def __init__(self):
states = ['wait',
'in_trial',
'post_trial',
'done']
transitions = [
{'source': 'wait',
'trigger': 'step',
'conditions': 'check_for_space',
'after': 'remove_text',
'dest': 'in_trial'},
{'source': 'in_trial',
'trigger': 'step',
'prepare': ['update_target_pos', 'update_target_color_and_count'],
'conditions': 'samples_exhausted',
'after': ['draw_time_on_target', 'start_countdown'],
'dest': 'post_trial'},
{'source': 'post_trial',
'trigger': 'step',
'conditions': 'time_elapsed',
'dest': 'done'}
]
Machine.__init__(self, states=states,
transitions=transitions, initial='wait')
def __init__(self, manifold):
self.manifold = manifold
self.gui = None
# Record controller states
states = [
State(name='disconnected', on_enter=['unbusyUI', 'updateUI']),
State(name='connected', on_enter=['unbusyUI', 'updateUI']),
State(name='confirmed', on_enter=['unbusyUI', 'updateUI']),
State(name='ready', on_enter=['unbusyUI', 'updateUI', 'prepRecording']),
State(name='started', on_enter=['unbusyUI', 'updateUI', 'startRecording']),
State(name='paused', on_enter=['unbusyUI', 'updateUI', 'pauseRecording'])
]
# Record controller state transition definition
transitions = [
{'trigger': 'connect', 'source': 'disconnected', 'dest': 'connected' , 'prepare': ['busyUI', 'connectToServers', 'pingServers'], 'conditions': 'connection_confirmed'},
{'trigger': 'disconnect', 'source': 'connected', 'dest': 'disconnected' , 'prepare': ['busyUI'] },
{'trigger': 'disconnect', 'source': 'paused', 'dest': 'disconnected' , 'prepare': ['busyUI'] },
{'trigger': 'new', 'source': 'connected', 'dest': 'ready' , 'prepare': ['busyUI'] },
{'trigger': 'new', 'source': 'paused', 'dest': 'ready' , 'prepare': ['busyUI'] },
{'trigger': 'start', 'source': 'ready', 'dest': 'started' , 'prepare': ['busyUI'] },
{'trigger': 'pause', 'source': 'started', 'dest': 'paused' , 'prepare': ['busyUI'] },
]
# Record machine
Machine.__init__(self,
states=states,
transitions=transitions,
initial='disconnected')
def __init__(self):
states=['chitchat',
'requestingRide', 'offeringRide',
'sendingLocation','sendingDestination',
'waiting',
'matchFound','nomatchFound',
'completed']
transitions = [
{ 'trigger': 'abort', 'source': '*', 'dest': 'chitchat'},
{ 'trigger': 'wantRide', 'source': 'chitchat', 'dest': 'requestingRide'},
{ 'trigger': 'offerRide', 'source': 'chitchat', 'dest': 'offeringRide'},
{ 'trigger': 'hasToSendLocation', 'source': 'requestingRide', 'dest': 'sendingLocation'},
{ 'trigger': 'hasToSendLocation', 'source': 'offeringRide', 'dest': 'sendingLocation' },
{ 'trigger': 'hasToSendDestination', 'source': 'sendingLocation', 'dest': 'sendingDestination' },
{ 'trigger': 'gotPosition', 'source': 'sendingDestination', 'dest': 'waiting'},
{ 'trigger': 'OK', 'source': 'waiting', 'dest': 'matchFound' },
{ 'trigger': 'sorry', 'source': 'waiting', 'dest': 'nomatchFound' },
{ 'trigger': 'done', 'source': 'matchFound', 'dest': 'completed' },
{ 'trigger': 'done', 'source': 'nomatchFound', 'dest': 'completed' },
{ 'trigger': 'end', 'source': 'completed', 'dest': 'chitchat' },
]
Machine.__init__(self, states=states, transitions=transitions,auto_transitions=False,initial='chitchat')
def test_agraph_diagram(self):
states = ['A', 'B', 'C', 'D']
transitions = [
{'trigger': 'walk', 'source': 'A', 'dest': 'B'},
{'trigger': 'run', 'source': 'B', 'dest': 'C'},
{'trigger': 'sprint', 'source': 'C', 'dest': 'D', 'conditions': 'is_fast'},
{'trigger': 'sprint', 'source': 'C', 'dest': 'B'}
]
m = Machine(states=states, transitions=transitions, initial='A', auto_transitions=False)
graph = m.get_graph()
self.assertIsNotNone(graph)
self.assertTrue("digraph" in str(graph))
# Test that graph properties match the Machine
self.assertEqual(
set(m.states.keys()), set([n.name for n in graph.nodes()]))
triggers = set([n.attr['label'] for n in graph.edges()])
for t in triggers:
self.assertIsNotNone(getattr(m, t))
self.assertEqual(len(graph.edges()), len(transitions))
# check for a valid pygraphviz diagram
# write diagram to temp file
target = tempfile.NamedTemporaryFile()
graph.draw(target.name, prog='dot')
self.assertTrue(os.path.getsize(target.name) > 0)
# cleanup temp file
target.close()
print(graph)
def test_before_after_callback_addition(self):
m = Machine(Stuff(), states=["A", "B", "C"], initial="A")
m.add_transition("move", "A", "B")
trans = m.events["move"].transitions["A"][0]
trans.add_callback("after", "increase_level")
m.model.move()
self.assertEquals(m.model.level, 2)
def test_state_callbacks(self):
class Model:
def on_enter_A(self):
pass
def on_exit_A(self):
pass
def on_enter_B(self):
pass
def on_exit_B(self):
pass
states = [State(name='A', on_enter='on_enter_A', on_exit='on_exit_A'),
State(name='B', on_enter='on_enter_B', on_exit='on_exit_B')]
machine = Machine(Model(), states=states)
state_a = machine.get_state('A')
state_b = machine.get_state('B')
self.assertEqual(len(state_a.on_enter), 1)
self.assertEqual(len(state_a.on_exit), 1)
self.assertEqual(len(state_b.on_enter), 1)
self.assertEqual(len(state_b.on_exit), 1)
def test_repr(self):
def a_condition(event_data):
self.assertRegex(
str(event_data.transition.conditions),
r"\[<Condition\(<function TestTransitions.test_repr.<locals>"
r".a_condition at [^>]+>\)@\d+>\]")
return True
# No transition has been assigned to EventData yet
def check_prepare_repr(event_data):
self.assertRegex(
str(event_data),
r"<EventData\('<State\('A'\)@\d+>', "
r"None\)@\d+>")
def check_before_repr(event_data):
self.assertRegex(
str(event_data),
r"<EventData\('<State\('A'\)@\d+>', "
r"<Transition\('A', 'B'\)@\d+>\)@\d+>")
m.checked = True
m = Machine(states=['A', 'B'],
prepare_event=check_prepare_repr,
before_state_change=check_before_repr, send_event=True,
initial='A')
m.add_transition('do_strcheck', 'A', 'B', conditions=a_condition)
self.assertTrue(m.do_strcheck())
self.assertIn('checked', vars(m))
def test_before_after_callback_addition_callable(self):
m = Machine(Stuff(), states=['A', 'B', 'C'], initial='A')
m.add_transition('move', 'A', 'B')
trans = m.events['move'].transitions['A'][0]
trans.add_callback('after', m.model.increase_level)
m.model.move()
self.assertEquals(m.model.level, 2)
def __init__(self):
state = ['Up', 'Failed', 'Maintenance', 'Blocked']
Machine.__init__(self, states = state, initial='Up')
self.add_transition('start', 'Up', 'Up', after = "startJob")
self.add_transition('fail', 'Up', 'Failed', after = 'startFail')
self.add_transition('repair', 'Failed', 'Up', after = 'rep')
self.add_transition('maint', 'Up', 'Maintenance', after='startmaint')
self.add_transition('maintcpl', 'Maintenance', 'Up')
self.add_transition('interrep', 'Failed', 'Maintenance', after='startmaint')
self.add_transition('block', 'Up', 'Blocked')
self.add_transition('unblock', 'Blocked', 'Up')
self.queue = SortedSet(key = lambda job: job.arrivalTime)
self.numServers = 1
self.busyServers = 0
self.prevState = None
Server._ids +=1
self.serviceTimeDistribution = None
self.name = "Server {}".format(Server._ids)
self.In = None
self.Out = None
self.scheduler = None
self.activejob = None
self.interuptjob = None
#debugging
self.jobsarrived = 0
self.jobsprocessed = 0
self.numfailures = 0
self.nummaint = 0
self.onzin = 0
def __init__(self):
# Define the different states of the state machine
states = ['secure', 'takeoff', 'follow', 'take_picture', \
'land', 'reacquisition', 'emergency']
# Define the transitions between states
# FORMAT: ['trigger_event', 'source_state', 'destination_state']
transitions = [
['takeoff_command', 'secure', 'takeoff'],
['takeoff_alt_reached', 'takeoff', 'follow'],
['picture_command', 'follow', 'take_picture'],
['picture_taken', 'take_picture', 'land'],
['land_alt_reached', 'land', 'secure'],
['emergency_condition', ['takeoff', 'follow', 'take_picture', 'land'], 'emergency'],
['takeoff_tag_lost', 'takeoff', 'reacquisition'],
['follow_tag_lost', 'follow', 'reacquisition'],
['land_tag_lost', 'land', 'reacquisition'],
['take_picture_tag_lost', 'take_picture', 'reacquisition'],
['takeoff_tag_found', 'reacquisition', 'takeoff'],
['follow_tag_found', 'reacquisition', 'follow'],
['land_tag_found', 'reacquisition', 'land'],
['take_picture_tag_found', 'reacquisition', 'take_picture'],
['timed_out', 'reacquisition', 'emergency'],
['reset', 'emergency', 'secure']
]
Machine.__init__(self, states=states, transitions=transitions, \
initial='secure')
def __init__(self):
self.states = [
{'name': 'Begin'}, #
{'name': 'End'}, #
{'name': 'ChoosePage'}, #
{'name': 'FirstPage'}, #
{'name': 'SecondPage'}, #
{'name': 'Error'} #
]
self.transitions = [
{'trigger': 'step', 'source': 'Begin', 'dest': 'ChoosePage'},
{'trigger': 'step', 'source': 'ChoosePage', 'dest': 'FirstPage', 'conditions': ['verify', 'answerIsOne'], 'after': 'to_ChoosePage'},
# {'trigger': 'step', 'source': 'ChoosePage', 'dest': 'Error', 'after': 'err'},
# {'trigger': 'step', 'source': 'ChoosePage', 'dest': 'FirstPage', 'conditions': 'verify', 'after': 'to_ChoosePage'},
{'trigger': 'step', 'source': 'FirstPage', 'dest': 'ChoosePage'},
# {'trigger': 'step', 'source': 'FirstPage', 'dest': 'Error', 'after': 'err'},
{'trigger': 'step', 'source': 'ChoosePage', 'dest': 'SecondPage', 'conditions': ['verify', 'answerIsTwo'], 'after': 'to_ChoosePage'},
# {'trigger': 'step', 'source': 'ChoosePage', 'dest': 'SecondPage', 'conditions': 'verify', 'after': 'to_ChoosePage'},
{'trigger': 'step', 'source': 'SecondPage', 'dest': 'ChoosePage'},
{'trigger': 'step', 'source': 'SecondPage', 'dest': 'Error', 'after': 'err'},
# {'trigger': 'step', 'source': 'ChoosePage', 'dest': 'End', 'conditions': ['verify', 'answerIsThree']},
# {'trigger': 'step', 'source': 'ChoosePage', 'dest': 'End', 'conditions': 'verify'}
# {'trigger': 'step', 'source': 'ChoosePage', 'dest': 'End'},
{'trigger': 'step', 'source': '*', 'dest': 'End'}
]
Machine.__init__(self, states=self.states, transitions=self.transitions,
initial='Begin', send_event=True)
self.pageNumber = None
self.answer = None
def test_agraph_diagram(self):
states = ["A", "B", "C", "D"]
transitions = [
{"trigger": "walk", "source": "A", "dest": "B"},
{"trigger": "run", "source": "B", "dest": "C"},
{"trigger": "sprint", "source": "C", "dest": "D", "conditions": "is_fast"},
{"trigger": "sprint", "source": "C", "dest": "B"},
]
m = Machine(states=states, transitions=transitions, initial="A", auto_transitions=False)
graph = m.get_graph()
self.assertIsNotNone(graph)
self.assertTrue("digraph" in str(graph))
# Test that graph properties match the Machine
self.assertEqual(set(m.states.keys()), set([n.name for n in graph.nodes()]))
triggers = set([n.attr["label"] for n in graph.edges()])
for t in triggers:
self.assertIsNotNone(getattr(m, t))
self.assertEqual(len(graph.edges()), len(transitions))
# check for a valid pygraphviz diagram
# write diagram to temp file
target = tempfile.NamedTemporaryFile()
graph.draw(target.name, prog="dot")
self.assertTrue(os.path.getsize(target.name) > 0)
# cleanup temp file
target.close()
print(graph)
def test_machine_prepare(self):
global_mock = MagicMock()
local_mock = MagicMock()
def global_callback():
global_mock()
def local_callback():
local_mock()
def always_fails():
return False
transitions = [
{'trigger': 'go', 'source': 'A', 'dest': 'B', 'conditions': always_fails, 'prepare': local_callback},
{'trigger': 'go', 'source': 'A', 'dest': 'B', 'conditions': always_fails, 'prepare': local_callback},
{'trigger': 'go', 'source': 'A', 'dest': 'B', 'conditions': always_fails, 'prepare': local_callback},
{'trigger': 'go', 'source': 'A', 'dest': 'B', 'conditions': always_fails, 'prepare': local_callback},
{'trigger': 'go', 'source': 'A', 'dest': 'B', 'prepare': local_callback},
]
m = Machine(states=['A', 'B'], transitions=transitions,
prepare_event=global_callback, initial='A')
m.go()
self.assertEqual(global_mock.call_count, 1)
self.assertEqual(local_mock.call_count, len(transitions))
def test_state_callable_callbacks(self):
class Model:
def __init__(self):
self.exit_A_called = False
self.exit_B_called = False
def on_enter_A(self, event):
pass
def on_enter_B(self, event):
pass
states = [State(name='A', on_enter='on_enter_A', on_exit='tests.test_core.on_exit_A'),
State(name='B', on_enter='on_enter_B', on_exit=on_exit_B),
State(name='C', on_enter='tests.test_core.AAAA')]
model = Model()
machine = Machine(model, states=states, send_event=True, initial='A')
state_a = machine.get_state('A')
state_b = machine.get_state('B')
self.assertEqual(len(state_a.on_enter), 1)
self.assertEqual(len(state_a.on_exit), 1)
self.assertEqual(len(state_b.on_enter), 1)
self.assertEqual(len(state_b.on_exit), 1)
model.to_B()
self.assertTrue(model.exit_A_called)
model.to_A()
self.assertTrue(model.exit_B_called)
with self.assertRaises(AttributeError):
model.to_C()
def test_dispatch(self):
s1, s2 = Stuff(), Stuff()
states = ['A', 'B', 'C']
m = Machine(model=s1, states=states, ignore_invalid_triggers=True,
initial=states[0], transitions=[['go', 'A', 'B'], ['go', 'B', 'C']])
m.add_model(s2, initial='B')
m.dispatch('go')
self.assertEqual(s1.state, 'B')
self.assertEqual(s2.state, 'C')
class ShoppingList(object):
states = ['todo', 'progress', 'finished']
"""
@:param str name
"""
def __init__(self, name):
self.name = name
self.items = {}
self.machine = Machine(model=self, states=ShoppingList.states, initial='todo')
self.machine.add_transition('done', ['todo', 'progress'], 'finished', conditions='is_done')
self.machine.add_transition('shopping', 'todo', 'progress')
"""
@:param ListItem item
"""
def add(self, item):
self.items[item.name] = item
"""
@:param str name
@:return ListItem
"""
def get(self, name):
return self.items.get(name)
"""
@:param str name
"""
def remove(self, name):
del self.items[name]
"""
Look in the items of this shopping list to see if the item was
found, and if it was, reduce the quantity required by the given
amount
@:param str name
@:param int quantity
"""
def update(self, name, quantity=1):
item = self.get(name)
if item is not None:
item.found(quantity)
if self.is_done():
self.to_finished()
"""
Determines if the shopping is done by making sure all the list
items have been fully acquired
"""
def is_done(self):
items = [item for item in self.items.values() if item.state is not 'acquired']
return len(items) is 0
def test_pass_state_instances_instead_of_names(self):
state_A = State('A')
state_B = State('B')
states = [state_A, state_B]
m = Machine(states=states, initial=state_A)
assert m.state == 'A'
m.add_transition('advance', state_A, state_B)
m.advance()
assert m.state == 'B'
def test_before_after_transition_listeners(self):
m = Machine(Stuff(), states=['A', 'B', 'C'], initial='A')
m.add_transition('move', 'A', 'B')
m.add_transition('move', 'B', 'C')
m.before_move('increase_level')
m.model.move()
self.assertEquals(m.model.level, 2)
m.model.move()
self.assertEquals(m.model.level, 3)
def test_before_after_transition_listeners(self):
m = Machine(Stuff(), states=["A", "B", "C"], initial="A")
m.add_transition("move", "A", "B")
m.add_transition("move", "B", "C")
m.before_move("increase_level")
m.model.move()
self.assertEquals(m.model.level, 2)
m.model.move()
self.assertEquals(m.model.level, 3)
def test_prepare(self):
m = Machine(Stuff(), states=['A', 'B', 'C'], initial='A')
m.add_transition('move', 'A', 'B', prepare='increase_level')
m.add_transition('move', 'B', 'C', prepare='increase_level')
m.add_transition('move', 'C', 'A', prepare='increase_level', conditions='this_fails')
m.add_transition('dont_move', 'A', 'C', prepare='increase_level')
m.prepare_move('increase_level')
m.model.move()
self.assertEquals(m.model.state, 'B')
self.assertEquals(m.model.level, 3)
m.model.move()
self.assertEquals(m.model.state, 'C')
self.assertEquals(m.model.level, 5)
# State does not advance, but increase_level still runs
m.model.move()
self.assertEquals(m.model.state, 'C')
self.assertEquals(m.model.level, 7)
# An invalid transition shouldn't execute the callback
with self.assertRaises(MachineError):
m.model.dont_move()
self.assertEquals(m.model.state, 'C')
self.assertEquals(m.model.level, 7)
def test_prepare(self):
m = Machine(Stuff(), states=['A', 'B', 'C'], initial='A')
m.add_transition('move', 'A', 'B', prepare='increase_level')
m.add_transition('move', 'B', 'C', prepare='increase_level')
m.add_transition('move', 'C', 'A', prepare='increase_level', conditions='this_fails')
m.add_transition('dont_move', 'A', 'C', prepare='increase_level')
m.prepare_move('increase_level')
m.model.move()
self.assertEqual(m.model.state, 'B')
self.assertEqual(m.model.level, 3)
m.model.move()
self.assertEqual(m.model.state, 'C')
self.assertEqual(m.model.level, 5)
# State does not advance, but increase_level still runs
m.model.move()
self.assertEqual(m.model.state, 'C')
self.assertEqual(m.model.level, 7)
# An invalid transition shouldn't execute the callback
try:
m.model.dont_move()
except MachineError as e:
self.assertTrue("Can't trigger event" in str(e))
self.assertEqual(m.model.state, 'C')
self.assertEqual(m.model.level, 7)
def test_prepare(self):
m = Machine(Stuff(), states=["A", "B", "C"], initial="A")
m.add_transition("move", "A", "B", prepare="increase_level")
m.add_transition("move", "B", "C", prepare="increase_level")
m.add_transition("move", "C", "A", prepare="increase_level", conditions="this_fails")
m.add_transition("dont_move", "A", "C", prepare="increase_level")
m.prepare_move("increase_level")
m.model.move()
self.assertEquals(m.model.state, "B")
self.assertEquals(m.model.level, 3)
m.model.move()
self.assertEquals(m.model.state, "C")
self.assertEquals(m.model.level, 5)
# State does not advance, but increase_level still runs
m.model.move()
self.assertEquals(m.model.state, "C")
self.assertEquals(m.model.level, 7)
# An invalid transition shouldn't execute the callback
with self.assertRaises(MachineError):
m.model.dont_move()
self.assertEquals(m.model.state, "C")
self.assertEquals(m.model.level, 7)
def test_generic_callbacks(self):
m = Machine(None, states=['A', 'B'], before_state_change='before_state_change',
after_state_change='after_state_change', send_event=True, initial='A', auto_transitions=True)
m.before_state_change = MagicMock()
m.after_state_change = MagicMock()
m.to_B()
self.assertTrue(m.before_state_change.called)
self.assertTrue(m.after_state_change.called)
def test_get_triggers(self):
states = ['A', 'B', 'C']
transitions = [['a2b', 'A', 'B'],
['a2c', 'A', 'C'],
['c2b', 'C', 'B']]
machine = Machine(states=states, transitions=transitions, initial='A', auto_transitions=False)
self.assertEqual(len(machine.get_triggers('A')), 2)
self.assertEqual(len(machine.get_triggers('B')), 0)
self.assertEqual(len(machine.get_triggers('C')), 1)
# self stuff machine should have to-transitions to every state
self.assertEqual(len(self.stuff.machine.get_triggers('B')), len(self.stuff.machine.states))
class UnSubscription:
states = ["new", "unsubscribed", "acknowledged"]
def __init__(self, packet_id, topics):
self.topics = topics
self.packet_id = packet_id
self._init_states()
def _init_states(self):
self.machine = Machine(model=self, states=UnSubscription.states, initial="new")
self.machine.add_transition(trigger="unsubscribe", source="new", dest="unsubscribed")
self.machine.add_transition(trigger="acknowledge", source="unsubscribed", dest="acknowledged")
def __init__(self):
self.states = [
{'name': 'Begin'}, #
{'name': 'End'}, #
{'name': 'Error'} #
]
self.transitions = [
{'trigger': 'step', 'source': 'Begin', 'dest': 'End'}
]
Machine.__init__(self, states=self.states, transitions=self.transitions,
initial='Begin', send_event=True)
self.answer = None
def test_function_callbacks(self):
before_state_change = MagicMock()
after_state_change = MagicMock()
m = Machine('self', states=['A', 'B'],
before_state_change=before_state_change,
after_state_change=after_state_change, send_event=True,
initial='A', auto_transitions=True)
m.to_B()
self.assertTrue(m.before_state_change[0].called)
self.assertTrue(m.after_state_change[0].called)
def test_auto_transitions(self):
states = ['A', {'name': 'B'}, State(name='C')]
m = Machine(None, states, initial='A', auto_transitions=True)
m.to_B()
self.assertEquals(m.state, 'B')
m.to_C()
self.assertEquals(m.state, 'C')
m.to_A()
self.assertEquals(m.state, 'A')
# Should fail if auto transitions is off...
m = Machine(None, states, initial='A', auto_transitions=False)
with self.assertRaises(AttributeError):
m.to_C()
def test_generic_callbacks_callable(self):
before_mock = MagicMock()
after_mock = MagicMock()
m = Machine(None, states=['A', 'B'],
before_state_change=before_mock,
after_state_change=after_mock, send_event=True,
initial='A', auto_transitions=True)
m.to_B()
self.assertTrue(before_mock.called)
self.assertTrue(after_mock.called)
def test_auto_transitions(self):
states = ["A", {"name": "B"}, State(name="C")]
m = Machine(None, states, initial="A", auto_transitions=True)
m.to_B()
self.assertEquals(m.state, "B")
m.to_C()
self.assertEquals(m.state, "C")
m.to_A()
self.assertEquals(m.state, "A")
# Should fail if auto transitions is off...
m = Machine(None, states, initial="A", auto_transitions=False)
with self.assertRaises(AttributeError):
m.to_C()
def __init__(self, verbose=2, locals=locals, globals=globals):
super(ActionMaskCallback, self).__init__(verbose)
self.model = None # type: BaseRLModel
self.training_env = None # type: Union[gym.Env, VecEnv, None]
self.n_calls = 0 # Number of time the callback was called # type: int
self.num_timesteps = 0 # type: int
self.locals = None # type: Dict[str, Any]
self.globals = None # type: Dict[str, Any]
# Set all actions to valid.
self.action_space = MultiDiscrete([3, 21, 21, 21, 21])
self.action_mask = mask(self.action_space)
self.action_mask[0] = [1, 0, 0]
states = ['start', 'start_spring_forward', 'lift_leg', 'plant_leg', 'switch_leg']
self.gait = Walk()
self.gait.num_timesteps = self.num_timesteps
self.gait.action_mask = mask(self.action_space)
self.gait.action_mask[0] = [1, 0, 0]
self.gait.swinging_leg = 'right'
self.gait.terminal = False
self.gait.start_spring_forward_reward = 0
self.gait.start = True
self.gait.step_count = 0
self.gait.step_flag = False
self.gait.log = False
self.gait.starting_position = 4
self.gait.teaching = None
machine = Machine(self.gait, states=states, send_event=True, initial='start')
# Setup for Pure Selector Orchestration
machine.add_transition('move', 'start', 'plant_leg', conditions='brain_transition_plant_leg', prepare=['log_iteration', 'set_mask'], before=['reset_iter_counter'], after=['set_mask'])
machine.add_transition('move', 'lift_leg', 'plant_leg', conditions='brain_transition_plant_leg', unless='is_start', prepare=['log_iteration', 'set_mask'], before=['reset_iter_counter'], after=['set_mask'])
machine.add_transition('move', 'plant_leg', 'switch_leg', conditions='is_swinging_leg_planted', prepare=['log_iteration', 'set_mask'], before=['reset_iter_counter', 'switch_legs', 'increment_step_count'], after=['set_mask'])
#machine.add_transition('move', 'switch_leg', 'lift_leg', conditions='brain_transition_lift_leg', prepare=['log_iteration', 'set_mask'], before=['reset_iter_counter'])
machine.add_transition('move', 'switch_leg', 'plant_leg', conditions='brain_transition_lift_leg', prepare=['log_iteration', 'set_mask'], before=['reset_iter_counter'], after=['set_mask'])
machine.add_transition('reset', 'start', 'start', before=['reinstate', 'reset_step_counter', 'set_mask'])
machine.add_transition('reset', 'plant_leg', 'start', before=['reinstate', 'reset_step_counter', 'set_mask'])
machine.add_transition('reset', 'switch_leg', 'start', before=['reinstate', 'reset_step_counter', 'set_mask'])
machine.add_transition('reset', 'lift_leg', 'start', before=['reinstate', 'reset_step_counter', 'set_mask'])
#print('callback init')
"""
class FSM(object):
fsm_states = [
'start', 'inicio', 'media_vuelta_inter_1', 'buscar_cubo', 'avanzar',
'avanzar_cubo', 'encerrar_cubo', 'girar_linea', 'buscar_linea',
'seguir_linea_1_f', 'media_vuelta_inicio', 'seguir_linea_1_b',
'seguir_linea_2_f', 'girar_color_f', 'seguir_linea_3_f', 'soltar_cubo',
'media_vuelta_fin', 'seguir_linea_3_b', 'girar_color_b',
'seguir_linea_2_b'
]
color = 'r'
side_detected = False
orientation = 0.0
real_orientation = 0.0
last_orientation = 0.0
action = 'null'
cmd_vel_select = None
vel = Twist()
ready = False
def stop_robot(self):
self.cmd_vel_select('raw_cmd_vel')
self.vel.linear.x = 0.0
self.vel.angular.z = 0.0
line_pub.publish(False)
cmd_vel_pub.publish(self.vel)
def negro(self):
return (self.color == 'k')
def activar_seguidor_linea(self):
self.action = 'following'
print("siguiendo linea")
self.cmd_vel_select('follow_line_cmd_vel')
line_pub.publish(True)
if self.state == 'avanzar':
rospy.sleep(0.5)
self.timeout()
line_pub.publish(False)
def girar(self):
self.action = 'turning'
self.cmd_vel_select('angle_cmd_vel')
if (self.state == 'media_vuelta_inter_1') or (
self.state
== 'media_vuelta_inicio') or (self.state
== 'media_vuelta_fin'):
print('girando 180 grados')
self.orientation = math.pi - 0.1
angle_pub.publish(self.orientation)
elif (self.state == 'girar_linea'):
if self.negro():
if self.side_detected == 1:
self.orientation = -90
else:
self.orientation = 90
angle_pub.publish(self.orientation)
print('girando 105 grados')
else:
if self.side_detected == 1:
self.orientation = -180
else:
self.orientation = 180
angle_pub.publish(self.orientation)
print('girando 75 grados')
elif self.state == 'girar_color_f':
if self.color == 'r':
self.orientation = math.pi / 2
angle_pub.publish(self.orientation)
print('girar rojo')
elif self.color == 'g':
self.orientation = -math.pi / 2
angle_pub.publish(self.orientation)
print('girar verde')
else:
print('girar azul')
elif self.state == 'girar_color_b':
if self.color == 'r':
self.orientation = -math.pi / 2
angle_pub.publish(self.orientation)
print('girar rojo b')
elif self.color == 'g':
self.orientation = math.pi / 2
angle_pub.publish(self.orientation)
print('girar verde b')
else:
print('girar azul b')
def sondeo(self):
self.last_orientation = self.real_orientation
self.action = 'pre_searching'
print('sondeando')
self.cmd_vel_select('angle_cmd_vel')
self.orientation = -math.pi / 2
self.ready = False
angle_pub.publish(self.orientation)
while not self.ready:
pass
self.action = 'searching'
found = False
for i in range(10):
self.orientation = math.pi / 10
angle_pub.publish(self.orientation)
rospy.sleep(0.75)
if self.state != 'buscar_cubo':
found = True
break
if not found:
self.action = 'pre_searching'
self.orientation = math.pi / 2
self.ready = False
angle_pub.publish(self.orientation)
while not self.ready:
pass
self.no_cubo()
def perseguir_cubo(self):
if (self.real_orientation > self.last_orientation):
self.side_detected = False
else:
self.side_detected = True
self.action = 'hunting'
print('persiguiendo cubo')
self.cmd_vel_select('follow_color_cmd_vel')
def cerrar_brazo(self):
self.action = 'hugging'
print('cerrando brazo')
servo.min()
rospy.sleep(1)
self.cubo_encerrado()
def encontrar_linea(self):
self.action = 'returning'
print('buscando linea')
self.cmd_vel_select('raw_cmd_vel')
self.vel.linear.x = 0.2
self.vel.angular.z = 0.0
cmd_vel_pub.publish(self.vel)
def abrir_brazo(self):
self.action = 'realising'
print('abriendo_brazo')
servo.max()
rospy.sleep(1)
self.cubo_liberado()
def __init__(self):
self.machine = Machine(model=self,
states=FSM.fsm_states,
initial='start')
self.machine.add_transition('comenzar',
'start',
'inicio',
after='activar_seguidor_linea')
self.machine.add_transition('interseccion',
'inicio',
'media_vuelta_inter_1',
after='girar')
self.machine.add_transition('giro_completo',
'media_vuelta_inter_1',
'buscar_cubo',
after='sondeo')
self.machine.add_transition('no_cubo',
'buscar_cubo',
'avanzar',
after='activar_seguidor_linea')
self.machine.add_transition('timeout',
'avanzar',
'buscar_cubo',
after='sondeo')
self.machine.add_transition('interseccion',
'avanzar',
'media_vuelta_inicio',
after='girar')
self.machine.add_transition('cubo',
'buscar_cubo',
'avanzar_cubo',
after='perseguir_cubo')
self.machine.add_transition('cubo_atrapado',
'avanzar_cubo',
'encerrar_cubo',
after='cerrar_brazo')
self.machine.add_transition('cubo_encerrado',
'encerrar_cubo',
'girar_linea',
after='girar')
self.machine.add_transition('giro_completo',
'girar_linea',
'buscar_linea',
after='encontrar_linea')
self.machine.add_transition('linea',
'buscar_linea',
'seguir_linea_1_f',
conditions='negro',
after='activar_seguidor_linea')
self.machine.add_transition('interseccion',
'seguir_linea_1_f',
'soltar_cubo',
after='abrir_brazo')
self.machine.add_transition('cubo_liberado',
'soltar_cubo',
'media_vuelta_inicio',
conditions='negro',
after='girar')
self.machine.add_transition('giro_completo',
'media_vuelta_inicio',
'inicio',
after='activar_seguidor_linea')
self.machine.add_transition('linea',
'buscar_linea',
'seguir_linea_1_b',
unless='negro',
after='activar_seguidor_linea')
self.machine.add_transition('interseccion',
'seguir_linea_1_b',
'seguir_linea_2_f',
after='activar_seguidor_linea')
self.machine.add_transition('interseccion',
'seguir_linea_2_f',
'girar_color_f',
after='girar')
self.machine.add_transition('giro_completo',
'girar_color_f',
'seguir_linea_3_f',
after='activar_seguidor_linea')
self.machine.add_transition('interseccion',
'seguir_linea_3_f',
'soltar_cubo',
after='abrir_brazo')
self.machine.add_transition('cubo_liberado',
'soltar_cubo',
'media_vuelta_fin',
after='girar')
self.machine.add_transition('giro_completo',
'media_vuelta_fin',
'seguir_linea_3_b',
after='activar_seguidor_linea')
self.machine.add_transition('interseccion',
'seguir_linea_3_b',
'girar_color_b',
after='girar')
self.machine.add_transition('giro_completo',
'girar_color_b',
'seguir_linea_2_b',
after='activar_seguidor_linea')
self.machine.add_transition('interseccion',
'seguir_linea_2_b',
'buscar_cubo',
after='sondeo')
'source': 'initiated',
'dest': 'initiated'
},
{
'trigger': 'timeout',
'source': ['initiated', 'proved', 'published'],
'dest': 'cancelled'
},
{
'trigger': 'receive_commitment_prove',
'source': 'initiated',
'unless': 'is_matched',
'dest': 'proved'
},
{
'trigger': 'receive_commitment_prove',
'source': 'initiated',
'conditions': 'is_matched',
'dest': 'pending'
},
{
'trigger': 'received_offer',
'source': 'proved',
'dest': 'published'
},
]
fsm_offer = Machine(states=OFFER_STATES,
transitions=TRANSITIONS,
initial='created',
after_state_change='log_state')
def __init__(self, state_based_provider):
"""
:param state_based_provider: The state machine based provider.
"""
self._polling_timer = None
self._query_timer = None
self._register_callback = None
self._cancel_callback = None
# self.on_registration_complete = None
self._registration_error = None
self._registration_result = None
self._operations = {}
self._request_response_provider = RequestResponseProvider(state_based_provider)
states = [
"disconnected",
"initializing",
"registering",
"waiting_to_poll",
"polling",
"completed",
"error",
"cancelling",
]
transitions = [
{
"trigger": "_trig_register",
"source": "disconnected",
"before": "_initialize_register",
"dest": "initializing",
},
{
"trigger": "_trig_register",
"source": "error",
"before": "_initialize_register",
"dest": "initializing",
},
{"trigger": "_trig_register", "source": "registering", "dest": None},
{
"trigger": "_trig_send_register_request",
"source": "initializing",
"before": "_send_register_request",
"dest": "registering",
},
{
"trigger": "_trig_send_register_request",
"source": "waiting_to_poll",
"before": "_send_register_request",
"dest": "registering",
},
{
"trigger": "_trig_wait",
"source": "registering",
"dest": "waiting_to_poll",
"after": "_wait_for_interval",
},
{"trigger": "_trig_wait", "source": "cancelling", "dest": None},
{
"trigger": "_trig_wait",
"source": "polling",
"dest": "waiting_to_poll",
"after": "_wait_for_interval",
},
{
"trigger": "_trig_poll",
"source": "waiting_to_poll",
"dest": "polling",
"after": "_query_operation_status",
},
{"trigger": "_trig_poll", "source": "cancelling", "dest": None},
{
"trigger": "_trig_complete",
"source": ["registering", "waiting_to_poll", "polling"],
"dest": "completed",
"after": "_call_complete",
},
{
"trigger": "_trig_error",
"source": ["registering", "waiting_to_poll", "polling"],
"dest": "error",
"after": "_call_error",
},
{"trigger": "_trig_error", "source": "cancelling", "dest": None},
{
"trigger": "_trig_cancel",
"source": ["disconnected", "completed"],
"dest": None,
"after": "_inform_no_process",
},
{
"trigger": "_trig_cancel",
"source": ["initializing", "registering", "waiting_to_poll", "polling"],
"dest": "cancelling",
"after": "_call_cancel",
},
]
def _on_transition_complete(event_data):
if not event_data.transition:
dest = "[no transition]"
else:
dest = event_data.transition.dest
logger.info(
"Transition complete. Trigger={}, Src={}, Dest={}, result={}, error{}".format(
event_data.event.name,
event_data.transition.source,
dest,
str(event_data.result),
str(event_data.error),
)
)
self._state_machine = Machine(
model=self,
states=states,
transitions=transitions,
initial="disconnected",
send_event=True, # Use event_data structures to pass transition arguments
finalize_event=_on_transition_complete,
queued=True,
)
def __init__(self):
# Transitions between the states. 'trigger' is a function you can call
# on the class object which triggers the transition to occur. The
# functions listed in 'before' are functions within the class that will
# run just after the transition takes place. Calling the function returns
# the transition's success or lack thereof.
transitions = [{
'source': 'Standby',
'dest': 'Drive',
'trigger': 'setDrive',
'after': 'drive',
'conditions': ['connected']
}, {
'source': 'Standby',
'dest': 'Arm',
'trigger': 'setArm',
'after': 'arm',
'conditions': ['missionERTorEQP', 'connected']
}, {
'source': 'Standby',
'dest': 'Drill',
'trigger': 'setDrill',
'after': 'drill',
'conditions': ['missionSCI', 'connected']
}, {
'source': 'Standby',
'dest': 'Auto',
'trigger': 'setAuto',
'after': 'auto',
'conditions': ['missionAUT', 'connected']
}, {
'source': 'Drive',
'dest': 'Standby',
'trigger': 'setStandby',
'after': 'standby'
}, {
'source': 'Drive',
'dest': 'Arm',
'trigger': 'setArm',
'after': 'arm',
'conditions': ['missionERTorEQP', 'connected']
}, {
'source': 'Drive',
'dest': 'Drill',
'trigger': 'setDrill',
'after': 'drill',
'conditions': ['missionSCI', 'connected']
}, {
'source': 'Arm',
'dest': 'Standby',
'trigger': 'setStandby',
'after': 'standby'
}, {
'source': 'Arm',
'dest': 'Drive',
'trigger': 'setDrive',
'after': 'drive',
'conditions': ['missionERTorEQP', 'connected']
}, {
'source': 'Drill',
'dest': 'Standby',
'trigger': 'setStandby',
'after': 'standby'
}, {
'source': 'Drill',
'dest': 'Drive',
'trigger': 'setDrive',
'after': 'drive',
'conditions': ['missionSCI', 'connected']
}, {
'source': 'Auto',
'dest': 'Standby',
'trigger': 'setStandby',
'after': 'standby'
}]
# Initialize the state machine
self.mach = Machine(model=self,
states=RoverStateMachine.states,
initial='Standby',
transitions=transitions,
ignore_invalid_triggers=True)
# Initialise the global state parameter
self.setMode('Standby')
import logging
from transitions import logger, Machine, State
logger.setLevel(logging.INFO)
states = ['liquid', 'solid', 'gas', 'plasma']
transitions = [{
'trigger': 'melt',
'source': 'solid',
'dest': 'liquid'
}, {
'trigger': 'evaporate',
'source': 'liquid',
'dest': 'gas'
}, {
'trigger': 'ionize',
'source': 'gas',
'dest': 'plasma'
}]
# Business as usual
machine = Machine(states=states, transitions=transitions, initial='solid')
class CameraController(object):
"""
Class containing the state machine to manage triggers to garage
door opening and closing, and scheduling recording. Uses
transitions library to implement a Finite State Machine (FSM).
The states are:
on_hold (initial):
The system is dormant waiting for door to be opene
prepare:
The system is activated waiting for certain time to start recording
recording:
The system camera is recording video
The events:
door_open:
Triggered when the door sensor goes from closed to open
door_closed:
Triggered when the door sensor goes from open to closed
prepare_finished:
Triggered when preparations to record video are completed
cancel_requested:
Triggered to cancel ongoing recording or its preparations
"""
states = ('on_hold', 'prepare', 'record')
def __init__(self):
# Define the transitions.Machine state machine.
# ignore_invalid_triggers=True to avoid exceptions
self.machine = Machine(model=self,
states=CameraController.states,
initial='on_hold',
ignore_invalid_triggers=True)
# transition on door opening while on_hold
self.machine.add_transition(trigger='door_open',
source='on_hold',
dest='prepare')
# do nothing on door closing while on_hold, defined to hook logging
self.machine.add_transition(trigger='door_closed',
source='on_hold',
dest='on_hold')
# transtion from recording preparations to record
self.machine.add_transition(trigger='prepare_finished',
source='prepare',
dest='record')
# transitions happening when door closes while recording or preparing
self.machine.add_transition(trigger='door_closed',
source='record',
dest='on_hold')
self.machine.add_transition(trigger='door_closed',
source='prepare',
dest='on_hold',
before=['_log_preparation_cancelled'])
# transitions for cancellation requested
self.machine.add_transition(trigger='cancel_requested',
source='prepare',
dest='on_hold',
before=['_log_preparation_cancelled'])
self.machine.add_transition(trigger='cancel_requested',
source='record',
dest='on_hold',
before=['_log_record_cancelled'])
# not documented in transitions API but it is possible to add
# a prepare callback when an event is triggered on a state accepting it
# it will
for event in self.machine.events:
if hasattr(self, 'on_event_' + event):
self.machine.events[event].add_callback(
'prepare', 'on_event_' + event)
def on_event_door_open(self):
"""
Callback when door_open event happens in a valid state
"""
logger.info("Door openened", extra=dict(event='door_open'))
def on_event_door_closed(self):
"""
Callback when door_closed event happens in a valid state
"""
logger.info("Door closed", extra=dict(event='door_closed'))
def on_event_cancel_requested(self):
"""
Callback when cancel_requested event happens in a valid state
"""
logger.info("Cancel requested", extra=dict(event='cancel_requested'))
def on_event_prepare_finished(self):
"""
Callback when prepare_finished event happens in a valid state
"""
logger.info("Preparations finished",
extra=dict(event='prepare_finished'))
def on_enter_prepare(self):
"""
Callback happening when the `prepare` state is entered. Calls
the abstract method `prepare_recording` to perform whatever
task needed before starting video recording, for example wait
for some time until delay is finally open or perform any other
checks
"""
logger.info("Preparing to record",
extra=dict(event='record_prepare_start'))
self.prepare_recording()
def on_enter_record(self):
"""
Callback happening when the `record` state is entered. Calls
the abstract method `start_recording` to start the recording of
video
"""
logger.info("Recording started", extra=dict(event='record_start'))
self.start_recording()
def on_exit_record(self):
"""
Callback happening when the `record` state is exited. Calls
the abstract method `stop_recording` to stop the recording of
video
"""
logger.info("Recording finished", extra=dict(event='record_end'))
self.stop_recording()
def prepare_recording(self):
"""
Abstract method for defining preparations for recording
after the preparations are done, call `self.prepare_finished()`
to move to recording state
"""
raise NotImplementedError()
def start_recording(self):
"""
Abstract method to execute start of video recording
"""
raise NotImplementedError()
def stop_recording(self):
"""
Abstract method to manage stop of video recording
"""
raise NotImplementedError()
def _log_preparation_cancelled(self):
"""
Logs that preparations for recording have been cancelled
"""
logger.info("Preparations for recording cancelled",
extra=dict(event='record_prepare_cancel'))
def _log_record_cancelled(self):
"""
Logs that recording recording has been cancelled
"""
logger.info("Recording cancelled", extra=dict(event='record_cancel'))
def test_ignore_invalid_triggers(self):
a_state = State('A')
transitions = [['a_to_b', 'A', 'B']]
# Exception is triggered by default
b_state = State('B')
m1 = Machine(None, states=[a_state, b_state], transitions=transitions,
initial='B')
with self.assertRaises(MachineError):
m1.a_to_b()
# Exception is suppressed, so this passes
b_state = State('B', ignore_invalid_triggers=True)
m2 = Machine(None, states=[a_state, b_state], transitions=transitions,
initial='B')
m2.a_to_b()
# Set for some states but not others
new_states = ['C', 'D']
m1.add_states(new_states, ignore_invalid_triggers=True)
m1.to_D()
m1.a_to_b() # passes because exception suppressed for D
m1.to_B()
with self.assertRaises(MachineError):
m1.a_to_b()
# Set at machine level
m3 = Machine(None, states=[a_state, b_state], transitions=transitions,
initial='B', ignore_invalid_triggers=True)
m3.a_to_b()
def test_ordered_transitions(self):
states = ['beginning', 'middle', 'end']
m = Machine(None, states)
m.add_ordered_transitions()
self.assertEquals(m.state, 'initial')
m.next_state()
self.assertEquals(m.state, 'beginning')
m.next_state()
m.next_state()
self.assertEquals(m.state, 'end')
m.next_state()
self.assertEquals(m.state, 'initial')
# Include initial state in loop
m = Machine(None, states)
m.add_ordered_transitions(loop_includes_initial=False)
m.to_end()
m.next_state()
self.assertEquals(m.state, 'beginning')
# Test user-determined sequence and trigger name
m = Machine(None, states, initial='beginning')
m.add_ordered_transitions(['end', 'beginning'], trigger='advance')
m.advance()
self.assertEquals(m.state, 'end')
m.advance()
self.assertEquals(m.state, 'beginning')
# Via init argument
m = Machine(
None, states, initial='beginning', ordered_transitions=True)
m.next_state()
self.assertEquals(m.state, 'middle')
def test___getattr___and_identify_callback(self):
m = Machine(Stuff(), states=['A', 'B', 'C'], initial='A')
m.add_transition('move', 'A', 'B')
m.add_transition('move', 'B', 'C')
callback = m.__getattr__('before_move')
self.assertTrue(callable(callback))
with self.assertRaises(MachineError):
m.__getattr__('before_no_such_transition')
with self.assertRaises(MachineError):
m.__getattr__('before_no_such_transition')
with self.assertRaises(AttributeError):
m.__getattr__('__no_such_method__')
with self.assertRaises(AttributeError):
m.__getattr__('')
type, target = m._identify_callback('on_exit_foobar')
self.assertEqual(type, 'on_exit')
self.assertEqual(target, 'foobar')
type, target = m._identify_callback('on_exitfoobar')
self.assertEqual(type, None)
self.assertEqual(target, None)
type, target = m._identify_callback('notacallback_foobar')
self.assertEqual(type, None)
self.assertEqual(target, None)
type, target = m._identify_callback('totallyinvalid')
self.assertEqual(type, None)
self.assertEqual(target, None)
type, target = m._identify_callback('before__foobar')
self.assertEqual(type, 'before')
self.assertEqual(target, '_foobar')
type, target = m._identify_callback('before__this__user__likes__underscores___')
self.assertEqual(type, 'before')
self.assertEqual(target, '_this__user__likes__underscores___')
type, target = m._identify_callback('before_stuff')
self.assertEqual(type, 'before')
self.assertEqual(target, 'stuff')
type, target = m._identify_callback('before_trailing_underscore_')
self.assertEqual(type, 'before')
self.assertEqual(target, 'trailing_underscore_')
type, target = m._identify_callback('before_')
self.assertIs(type, None)
self.assertIs(target, None)
type, target = m._identify_callback('__')
self.assertIs(type, None)
self.assertIs(target, None)
type, target = m._identify_callback('')
self.assertIs(type, None)
self.assertIs(target, None)
class Devices(QtCore.QObject):
States = [
'start', 'temptUp', 'temptDown', 'control', 'stable', 'measure',
'stop', 'idle', 'undefined'
]
Triggers = [
'startAutoStep', 'timerTick', 'nextTemptPoint', 'nextTemptPoint'
'startControl', 'achieveSteady', 'startMeasure', 'suspendAutoControl',
'finishAll', 'forceStop', 'uindefinedOccur'
]
# when auto control, the control flow enter a new state
# emit([stateName])
controlStateChangedSignal = QtCore.pyqtSignal(list)
# when auto control, the relay device status changed
# emit([err, st])
ryStatusUpdateSignal = QtCore.pyqtSignal(list)
# when the temperature parameters are updated into the T-C board
# emit(err, param])
tpParamUpdateSignal = QtCore.pyqtSignal(list)
# in every tick, the temperature and power are updated from the T-C board
# emit([errT, tp, errP, p])
tpUpdateTickSignal = QtCore.pyqtSignal(list)
# check error in every tick
tpErrorOccurTickSignal = QtCore.pyqtSignal(list)
@typeassert(name=str)
def __init__(self, name='Device', parent=None):
super(Devices, self).__init__(parent)
# tempt parameters
# relay device
self.ryDevice = RelayDevice()
# temperature control device
self.tpDevice = TemptDevice()
# whether perform auto control
self.autoControl = False
# temperature list
self.temptPointList = []
# current temperature control state
self.currentTemptPointState = TemptPointStruct()
# threading lock
self.stepLocker = threading.Lock()
# some parameters
self.thrParam = ThresholdParamStruct()
# state machine
self.name = name
self._machine = None
self._init_machine()
self._timer = QtCore.QTimer(self)
self._timer.timeout.connect(self._timer_tick)
def _init_machine(self):
self._machine = Machine(model=self,
states=Devices.States,
initial=Devices.States[7],
ignore_invalid_triggers=True)
# States.idle
# -> States.start
# -> States.stop
self._machine.on_enter_idle('_enter_idle')
self._machine.on_exit_idle('_exit_idle')
self._machine.add_transition('internal',
source='idle',
dest=None,
after='_idle_tick')
self._machine.add_transition(trigger='startAutoStep',
source='idle',
dest='start')
# States.start
# -> States.control
# -> States.temptUp
# -> States.temptDown
self._machine.on_enter_start('_enter_start')
self._machine.on_exit_start('_exit_start')
self._machine.add_transition('internal',
source='start',
dest=None,
after='_start_tick')
self._machine.add_transition(trigger='startControl',
source='start',
dest='control')
self._machine.add_transition(trigger='nextTemptPoint',
source='start',
dest='temptDown',
conditions='_next_point_down')
self._machine.add_transition(trigger='nextTemptPoint',
source='start',
dest='temptUp')
# States.temptUp
# -> States.control
self._machine.on_enter_temptUp('_enter_temptUp')
self._machine.on_exit_temptUp('_exit_temptUp')
self._machine.add_transition('internal',
source='temptUp',
dest=None,
after='_temptUp_tick')
self._machine.add_transition(trigger='startControl',
source='temptUp',
dest='control')
# States.temptDown
# -> States.control
self._machine.on_enter_temptDown('_enter_temptDown')
self._machine.on_exit_temptDown('_exit_temptDown')
self._machine.add_transition('internal',
source='temptDown',
dest=None,
after='_temptDown_tick')
self._machine.add_transition(trigger='startControl',
source='temptDown',
dest='control')
# States.control
# -> States.stable
self._machine.on_enter_control('_enter_control')
self._machine.on_exit_control('_exit_control')
self._machine.add_transition('internal',
source='control',
dest=None,
after='_control_tick')
self._machine.add_transition(trigger='achieveSteady',
source='control',
dest='stable')
# States.stable
# -> States.measure
self._machine.on_enter_stable('_enter_stable')
self._machine.on_exit_stable('_exit_stable')
self._machine.add_transition('internal',
source='stable',
dest=None,
after='_stable_tick')
self._machine.add_transition(trigger='startMeasure',
source='stable',
dest='measure')
# States.measure
# -> States.temptUp
# -> States.temptDown
self._machine.on_enter_measure('_enter_measure')
self._machine.on_exit_measure('_exit_measure')
self._machine.add_transition('internal',
source='measure',
dest=None,
after='_measure_tick')
self._machine.add_transition(trigger='nextTemptPoint',
source='measure',
dest='temptDown',
conditions='_next_point_down')
self._machine.add_transition(trigger='nextTemptPoint',
source='measure',
dest='temptUp')
self._machine.add_transition(trigger='finishAll',
source='measure',
dest='stop',
conditions='_stop_when_finished')
self._machine.add_transition(trigger='finishAll',
source='measure',
dest='idle')
# States.stop
self._machine.on_enter_stop('_enter_stop')
self._machine.on_exit_stop('_exit_stop')
self._machine.add_transition('internal',
source='stop',
dest=None,
after='_stop_tick')
# suspend the auto control
self._machine.add_transition(trigger='suspendAutoControl',
source=[
'start', 'temptUp', 'temptDown',
'control', 'stable', 'measure'
],
dest='idle')
# force to stop
self._machine.add_transition(trigger='forceStop',
source='*',
dest='stop')
# States idle
def _enter_idle(self):
print('enter the idle state')
# clear state time count
self.currentTemptPointState.stateCount = 0
# state change signal
self.controlStateChangedSignal.emit(['idle'])
def _exit_idle(self):
print('exit the idle state')
pass
def _idle_tick(self, sec):
print('idle tick')
# if start auto control as well as there tpPoint in the list
if self.autoControl is True and len(self.temptPointList) != 0:
self._machine.startAutoStep()
pass
# States start
def _enter_start(self):
print('enter the start state')
# clear state time count
self.currentTemptPointState.stateCount = 0
# state change signal
self.controlStateChangedSignal.emit(['start'])
def _exit_start(self):
print('exit the start state')
pass
@typeassert(sec=float)
def _start_tick(self, sec):
print('start tick')
for pt in self.temptPointList:
if pt.finished == False:
self.currentTemptPointState = pt
# if all the points have been measured
# which means the finished of all the point is True
# then suspend the auto control and go to idle
if self.currentTemptPointState.finished == True:
self._machine.suspendAutoControl()
return
# else start the auto control flow
if abs(self.currentTemptPointState.stateTemp -
self.tpDevice.temperatures[-1]) < self.thrParam.controlTemptThr:
self._machine.startControl()
else:
self._machine.nextTemptPoint()
def _next_point_down(self):
if self.currentTemptPointState.stateTemp(
) < self.tpDevice.temperatures[-1]:
return True
else:
return False
# States temptUp
def _enter_temptUp(self):
print('enter tempUp')
# update relay status
rySt = [False] * 16
rySt[RelayProtocol.CmdRelay.Elect] = True
rySt[RelayProtocol.CmdRelay.MainHeat] = True
rySt[RelayProtocol.CmdRelay.Cool] = False
rySt[RelayProtocol.CmdRelay.Circle] = True
errR, st = self.ryDevice.updatestatustodevice(rySt, True)
self.ryStatusUpdateSignal.emit([errR, st])
# update T-C parameters
errT, prmm = self.tpDevice.update_param_to_device(
self.currentTemptPointState.paramM, True)
self.tpParamUpdateSignal.emit(errT, self.currentTemptPointState.paramM)
# clear state time count
self.currentTemptPointState.stateCount = 0
# state change signal
self.controlStateChangedSignal.emit(['temptUp'])
def _exit_temptUp(self):
print('exit the temptUp state')
pass
@typeassert(sec=float)
def _temptUp_tick(self, sec):
print('temptUp tick: %d' % sec)
# error check
# judge enter control
if self.tpDevice.temperatures[
-1] > self.currentTemptPointState.stateTemp() - 0.1:
self._machine.startControl()
# States temptDown
def _enter_temptDown(self):
print('enter the temptDown state')
# update relay status
rySt = [False] * 16
rySt[RelayProtocol.CmdRelay.Elect] = True
rySt[RelayProtocol.CmdRelay.MainHeat] = False
rySt[RelayProtocol.CmdRelay.Cool] = True
rySt[RelayProtocol.CmdRelay.Circle] = True
errR, st = self.ryDevice.updatestatustodevice(rySt, True)
self.ryStatusUpdateSignal.emit([errR, st])
# update T-C parameters
errT = self.tpDevice.updateparamtodevice(
self.currentTemptPointState.paramM, True)
self.tpParamUpdateSignal.emit(errT, self.currentTemptPointState.paramM)
# clear state time count
self.currentTemptPointState.stateCount = 0
# state change signal
self.controlStateChangedSignal.emit(['temptDown'])
def _exit_temptDown(self):
print('exit the temptDown state')
pass
@typeassert(sec=float)
def _temptDown_tick(self, sec):
print('temptDown tick: %d' % sec)
# error check
# judge enter control
if self.tpDevice.temperatures[
-1] < self.currentTemptPointState.stateTemp() + 0.1:
self._machine.startControl()
# States control
def _enter_control(self):
print('enter the control state')
rySt = [False] * 16
rySt[RelayProtocol.CmdRelay.Elect] = True
rySt[RelayProtocol.CmdRelay.MainHeat] = False
rySt[RelayProtocol.CmdRelay.Cool] = True
rySt[RelayProtocol.CmdRelay.Circle] = True
errR, st = self.ryDevice.updatestatustodevice(rySt, True)
self.ryStatusUpdateSignal.emit([errR, st])
# clear state time count
self.currentTemptPointState.stateCount = 0
# state change signal
self.controlStateChangedSignal.emit(['control'])
def _exit_control(self):
print('exit the control state')
pass
@typeassert(sec=float)
def _control_tick(self, sec):
print('control tick: %d' % sec)
# error check
# if the fluctuation satisfy the criteria, then go to stable
if self.tpDevice.check_fluc_cnt(
self.thrParam.steadyTimeSec * 1000 /
self.thrParam.tpUpdateInterval, self.thrParam.flucValue):
self._machine.achieveSteady()
# States stable
def _enter_stable(self):
print('enter the stable state')
rySt = [False] * 16
rySt[RelayProtocol.CmdRelay.Elect] = True
rySt[RelayProtocol.CmdRelay.MainHeat] = False
rySt[RelayProtocol.CmdRelay.Cool] = True
rySt[RelayProtocol.CmdRelay.Circle] = True
errR, st = self.ryDevice.updatestatustodevice(rySt, True)
self.ryStatusUpdateSignal.emit([errR, st])
# clear state time count
self.currentTemptPointState.stateCount = 0
# state change signal
self.controlStateChangedSignal.emit(['stable'])
def _exit_stable(self):
print('exit the stable state')
pass
@typeassert(sec=float)
def _stable_tick(self, sec):
print('stable tick: %d' % sec)
# enter this state more than xx time
# then check the fluctuation again
if self.currentTemptPointState.stateCount > \
self.thrParam.bridgeSteadyTimeSec * 1000 /self.thrParam.tpUpdateInterval and\
self.tpDevice.check_fluc_cnt(self.thrParam.steadyTimeSec * 1000 /
self.thrParam.tpUpdateInterval,self.thrParam.flucValue):
self._machine.startMeasure()
# States measure
def _enter_measure(self):
print('enter the measure state')
# clear state time count
self.currentTemptPointState.stateCount = 0
# state change signal
self.controlStateChangedSignal.emit(['measure'])
def _exit_measure(self):
print('exit the measure state')
pass
@typeassert(sec=float)
def _measure_tick(self, sec):
print('measure tick: %d' % sec)
# error check
#
self.temptPointList[
self.currentTemptPointState.temptPointIndex].finished = True
# search in the list, and find whether there is still any point which is unfinished
for pt in self.temptPointList:
if pt.finished == False:
self.currentTemptPointState = pt
# all the point is finished
if self.currentTemptPointState.finished == True:
self._machine.finishAll()
else:
self._machine.nextTemptPoint()
def _stop_when_finished(self):
return self.thrParam.shutDownComputer
# States stop
def _enter_stop(self):
print('enter the stop state')
# clear state time count
self.currentTemptPointState.stateCount = 0
# state change signal
self.controlStateChangedSignal.emit(['stop'])
def _exit_stop(self):
print('exit the stop state')
pass
@typeassert(sec=float)
def _stop_tick(self, sec):
print('stop tick: %d' % sec)
pass
def start_timer(self):
self._timer.start(4000)
def _timer_tick(self):
"""
device timer tick function
:return:
"""
print('_timer_tick')
# read temperature and power value
errT, valT = self.tpDevice.get_temptshow(True)
errP, valP = self.tpDevice.get_powershow(True)
errF, fluc = self.tpDevice.get_fluc_cnt_orless(
int(5000 / self.thrParam.tpUpdateInterval))
self.tpUpdateTickSignal.emit([errT, valT, errP, valP, errF, fluc])
# state count
# bug : wghou 20190213 overflow
self.currentTemptPointState.stateCount += 1
def __init__(self, session: UssdSession, user: User):
self.session = session
self.user = user
Machine.__init__(self,
model=self,
states=self.states,
initial=session.state)
# event: initial_language_selection transitions
initial_language_selection_transitions = [{
'trigger':
'feed_char',
'source':
'initial_language_selection',
'dest':
'initial_pin_entry',
'after':
'initial_change_preferred_language_to_en',
'conditions':
'menu_one_selected'
}, {
'trigger':
'feed_char',
'source':
'initial_language_selection',
'dest':
'initial_pin_entry',
'after':
'initial_change_preferred_language_to_sw',
'conditions':
'menu_two_selected'
}, {
'trigger':
'feed_char',
'source':
'initial_language_selection',
'dest':
'help',
'conditions':
'menu_three_selected'
}, {
'trigger':
'feed_char',
'source':
'initial_language_selection',
'dest':
'exit_invalid_menu_option'
}]
self.add_transitions(initial_language_selection_transitions)
# event: initial_pin_entry transitions
initial_pin_entry_transitions = [{
'trigger': 'feed_char',
'source': 'initial_pin_entry',
'dest': 'initial_pin_confirmation',
'after': 'save_pin_data',
'conditions': 'is_valid_pin'
}, {
'trigger': 'feed_char',
'source': 'initial_pin_entry',
'dest': 'exit_invalid_pin'
}]
self.add_transitions(initial_pin_entry_transitions)
# event: initial_pin_confirmation transitions
initial_pin_confirmation_transitions = [{
'trigger':
'feed_char',
'source':
'initial_pin_confirmation',
'dest':
'exit_account_creation_prompt',
'unless':
'is_admin_pin_reset',
'after': [
'complete_initial_pin_change', 'set_phone_as_verified',
'send_terms_to_user_if_required',
'process_account_creation_request'
],
'conditions': ['is_ussd_signup', 'new_pins_match']
}, {
'trigger':
'feed_char',
'source':
'initial_pin_confirmation',
'dest':
'start',
'conditions': ['new_pins_match', 'is_admin_pin_reset'],
'after':
'complete_initial_pin_change'
}, {
'trigger':
'feed_char',
'source':
'initial_pin_confirmation',
'dest':
'start',
'after': [
'complete_initial_pin_change', 'set_phone_as_verified',
'send_terms_to_user_if_required'
],
'conditions':
'new_pins_match'
}, {
'trigger': 'feed_char',
'source': 'initial_pin_confirmation',
'dest': 'exit_pin_mismatch'
}]
self.add_transitions(initial_pin_confirmation_transitions)
# event: start transitions
start_transitions = [{
'trigger': 'feed_char',
'source': 'start',
'dest': 'send_enter_recipient',
'conditions': 'menu_one_selected'
}, {
'trigger': 'feed_char',
'source': 'start',
'dest': 'account_management',
'conditions': 'menu_two_selected'
}, {
'trigger': 'feed_char',
'source': 'start',
'dest': 'directory_listing',
'conditions': 'menu_three_selected',
'after': 'store_transfer_usage'
}, {
'trigger': 'feed_char',
'source': 'start',
'dest': 'exchange_token',
'conditions': 'menu_four_selected'
}, {
'trigger': 'feed_char',
'source': 'start',
'dest': 'help',
'conditions': 'menu_five_selected'
}, {
'trigger': 'feed_char',
'source': 'start',
'dest': 'exit_invalid_menu_option'
}]
self.add_transitions(start_transitions)
# event: send_enter_recipient transitions
send_enter_recipient_transitions = [{
'trigger': 'feed_char',
'source': 'send_enter_recipient',
'dest': 'send_token_amount',
'conditions': 'is_user',
'after': 'save_recipient_phone'
}, {
'trigger': 'feed_char',
'source': 'send_enter_recipient',
'dest': 'exit_use_exchange_menu',
'conditions': 'is_token_agent'
}, {
'trigger':
'feed_char',
'source':
'send_enter_recipient',
'dest':
'exit_invalid_recipient',
'after':
'upsell_unregistered_recipient'
}]
self.add_transitions(send_enter_recipient_transitions)
# event: send_token_amount transitions
send_token_amount_transitions = [
{
'trigger': 'feed_char',
'source': 'send_token_amount',
'dest': 'send_token_pin_authorization',
'conditions': 'is_valid_token_amount',
'after': ['save_transaction_amount', 'store_transfer_usage']
},
{
'trigger': 'feed_char',
'source': 'send_token_amount',
'dest': 'exit_invalid_input'
},
]
self.add_transitions(send_token_amount_transitions)
# event: send_token_reason transitions
send_token_reason_transitions = [
{
'trigger': 'feed_char',
'source': 'send_token_reason',
'dest': 'send_token_reason_other',
'conditions': 'menu_nine_selected',
'after': 'set_usage_menu_number'
},
{
'trigger': 'feed_char',
'source': 'send_token_reason',
'dest': 'send_token_pin_authorization',
'after': 'save_transaction_reason',
'conditions': 'is_valid_menu_option'
},
{
'trigger': 'feed_char',
'source': 'send_token_reason',
'dest': 'exit_invalid_menu_option'
},
{
'trigger': 'feed_char',
'source': 'send_token_reason_other',
'dest': 'send_token_reason_other',
'conditions': 'menu_nine_selected',
'after': 'set_usage_menu_number'
},
{
'trigger': 'feed_char',
'source': 'send_token_reason_other',
'dest': 'send_token_reason_other',
'conditions': 'menu_ten_selected',
'after': 'set_usage_menu_number'
},
{
'trigger': 'feed_char',
'source': 'send_token_reason_other',
'dest': 'send_token_pin_authorization',
'after': 'save_transaction_reason',
'conditions': 'is_valid_other_menu_option'
},
{
'trigger': 'feed_char',
'source': 'send_token_reason_other',
'dest': 'exit_invalid_menu_option'
},
]
self.add_transitions(send_token_reason_transitions)
directory_listing_transitions = [
{
'trigger': 'feed_char',
'source': 'directory_listing',
'dest': 'directory_listing_other',
'conditions': 'menu_nine_selected',
'after': 'set_usage_menu_number'
},
{
'trigger': 'feed_char',
'source': 'directory_listing',
'dest': 'complete',
'after': 'send_directory_listing',
'conditions': 'is_valid_menu_option'
},
{
'trigger': 'feed_char',
'source': 'directory_listing',
'dest': 'exit_invalid_menu_option'
},
{
'trigger': 'feed_char',
'source': 'directory_listing_other',
'dest': 'directory_listing_other',
'conditions': 'menu_nine_selected',
'after': 'set_usage_menu_number'
},
{
'trigger': 'feed_char',
'source': 'directory_listing_other',
'dest': 'directory_listing_other',
'conditions': 'menu_ten_selected',
'after': 'set_usage_menu_number'
},
{
'trigger': 'feed_char',
'source': 'directory_listing_other',
'dest': 'complete',
'after': 'send_directory_listing',
'conditions': 'is_valid_other_menu_option'
},
{
'trigger': 'feed_char',
'source': 'directory_listing_other',
'dest': 'exit_invalid_menu_option'
},
]
self.add_transitions(directory_listing_transitions)
# event: send_token_pin_authorization transitions
send_token_pin_authorization_transitions = [{
'trigger':
'feed_char',
'source':
'send_token_pin_authorization',
'dest':
'exit_successful_send_token',
'conditions':
'is_authorized_pin',
'after':
'process_send_token_request'
}, {
'trigger':
'feed_char',
'source':
'send_token_pin_authorization',
'dest':
'exit_pin_blocked',
'conditions':
'is_blocked_pin'
}]
self.add_transitions(send_token_pin_authorization_transitions)
# event: account_management transitions
account_management_transitions = [{
'trigger': 'feed_char',
'source': 'account_management',
'dest': 'user_profile',
'conditions': 'menu_one_selected'
}, {
'trigger': 'feed_char',
'source': 'account_management',
'dest': 'choose_language',
'conditions': 'menu_two_selected'
}, {
'trigger': 'feed_char',
'source': 'account_management',
'dest': 'balance_inquiry_pin_authorization',
'conditions': 'menu_three_selected'
}, {
'trigger': 'feed_char',
'source': 'account_management',
'dest': 'current_pin',
'conditions': 'menu_four_selected'
}, {
'trigger': 'feed_char',
'source': 'account_management',
'dest': 'opt_out_of_market_place_pin_authorization',
'conditions': 'menu_five_selected'
}, {
'trigger': 'feed_char',
'source': 'account_management',
'dest': 'exit_invalid_menu_option'
}]
self.add_transitions(account_management_transitions)
# event: user_profile transitions
user_profile_transitions = [{
'trigger': 'feed_char',
'source': 'user_profile',
'dest': 'first_name_entry',
'conditions': 'menu_one_selected'
}, {
'trigger': 'feed_char',
'source': 'user_profile',
'dest': 'gender_entry',
'conditions': 'menu_two_selected'
}, {
'trigger': 'feed_char',
'source': 'user_profile',
'dest': 'location_entry',
'conditions': 'menu_three_selected'
}, {
'trigger': 'feed_char',
'source': 'user_profile',
'dest': 'change_my_business_prompt',
'conditions': 'menu_four_selected'
}, {
'trigger': 'feed_char',
'source': 'user_profile',
'dest': 'view_profile_pin_authorization',
'conditions': 'menu_five_selected'
}, {
'trigger': 'feed_char',
'source': 'user_profile',
'dest': 'exit_invalid_menu_option'
}]
self.add_transitions(user_profile_transitions)
# event: choose_language transition
choose_language_transitions = [{
'trigger': 'feed_char',
'source': 'choose_language',
'dest': 'complete',
'after': 'change_preferred_language_to_en',
'conditions': 'menu_one_selected'
}, {
'trigger': 'feed_char',
'source': 'choose_language',
'dest': 'complete',
'after': 'change_preferred_language_to_sw',
'conditions': 'menu_two_selected'
}, {
'trigger': 'feed_char',
'source': 'choose_language',
'dest': 'exit_invalid_menu_option'
}]
self.add_transitions(choose_language_transitions)
# event: balance_inquiry_pin_authorization transitions
balance_inquiry_pin_authorization_transitions = [{
'trigger':
'feed_char',
'source':
'balance_inquiry_pin_authorization',
'dest':
'complete',
'conditions':
'is_authorized_pin',
'after':
'inquire_balance'
}, {
'trigger':
'feed_char',
'source':
'balance_inquiry_pin_authorization',
'dest':
'exit_pin_blocked',
'conditions':
'is_blocked_pin'
}]
self.add_transitions(balance_inquiry_pin_authorization_transitions)
# event: current_pin transitions
current_pin_transitions = [{
'trigger': 'feed_char',
'source': 'current_pin',
'dest': 'new_pin',
'conditions': 'is_authorized_pin'
}, {
'trigger': 'feed_char',
'source': 'current_pin',
'dest': 'exit_pin_blocked',
'conditions': 'is_blocked_pin'
}]
self.add_transitions(current_pin_transitions)
# event: new_pin transitions
new_pin_transitions = [{
'trigger': 'feed_char',
'source': 'new_pin',
'dest': 'new_pin_confirmation',
'after': 'save_pin_data',
'conditions': 'is_valid_new_pin'
}, {
'trigger': 'feed_char',
'source': 'new_pin',
'dest': 'exit_invalid_pin'
}]
self.add_transitions(new_pin_transitions)
# event: new_pin_confirmation transitions
new_pin_confirmation = [{
'trigger': 'feed_char',
'source': 'new_pin_confirmation',
'dest': 'complete',
'conditions': 'new_pins_match',
'after': 'complete_pin_change'
}, {
'trigger': 'feed_char',
'source': 'new_pin_confirmation',
'dest': 'exit_pin_mismatch'
}]
self.add_transitions(new_pin_confirmation)
# event: opt_out_of_market_place_pin_authorization transitions
opt_out_of_market_place_pin_authorization_transitions = [{
'trigger':
'feed_char',
'source':
'opt_out_of_market_place_pin_authorization',
'dest':
'complete',
'conditions':
'is_authorized_pin',
'after':
'change_opted_in_market_status'
}, {
'trigger':
'feed_char',
'source':
'opt_out_of_market_place_pin_authorization',
'dest':
'exit_pin_blocked',
'conditions':
'is_blocked_pin'
}]
self.add_transitions(
opt_out_of_market_place_pin_authorization_transitions)
# first_name_entry transitions
self.add_transition(trigger='feed_char',
source='first_name_entry',
dest='last_name_entry',
after='add_first_name_to_session_data')
# last_name_entry transitions
last_name_entry_transitions = [
# if profile is complete change last name and authorize..
{
'trigger': 'feed_char',
'source': 'last_name_entry',
'dest': 'name_change_pin_authorization',
'conditions': 'has_complete_profile',
'after': 'add_last_name_to_session_data'
},
# if profile is complete save for last_name_entry change last name and authorize.
{
'trigger':
'feed_char',
'source':
'last_name_entry',
'dest':
'name_change_pin_authorization',
'conditions':
'has_empty_name_info',
'unless': [
'has_complete_profile', 'has_empty_gender_info',
'has_empty_location_info', 'has_empty_bio_info'
],
'after':
'add_last_name_to_session_data'
},
# if gender info is empty proceed to gender entry menu
{
'trigger': 'feed_char',
'source': 'last_name_entry',
'dest': 'gender_entry',
'conditions': 'has_empty_gender_info',
'after': 'add_last_name_to_session_data'
},
# if location info is empty and gender info is filled proceed to location entry menu
{
'trigger': 'feed_char',
'source': 'last_name_entry',
'dest': 'location_entry',
'unless': 'has_empty_gender_info',
'conditions': 'has_empty_location_info',
'after': 'add_last_name_to_session_data'
},
# if business info is empty and gender and location info is filled proceed to business_entry menu
{
'trigger': 'feed_char',
'source': 'last_name_entry',
'dest': 'change_my_business_prompt',
'unless': ['has_empty_gender_info', 'has_empty_location_info'],
'conditions': 'has_empty_bio_info',
'after': 'add_last_name_to_session_data'
}
]
self.add_transitions(last_name_entry_transitions)
# gender_entry transitions
gender_entry_transitions = [
# if profile is complete, edit gender_entry and authorize.
{
'trigger': 'feed_char',
'source': 'gender_entry',
'dest': 'gender_change_pin_authorization',
'conditions': 'has_complete_profile',
'after': 'add_gender_to_session_data'
},
# if profile is complete save for gender_entry change gender and authorize.
{
'trigger':
'feed_char',
'source':
'gender_entry',
'dest':
'gender_change_pin_authorization',
'conditions':
'has_empty_gender_info',
'unless': [
'has_complete_profile', 'has_empty_name_info',
'has_empty_location_info', 'has_empty_location_info'
],
'after':
'add_gender_to_session_data'
},
# if location info is empty proceed to location entry menu
{
'trigger': 'feed_char',
'source': 'gender_entry',
'dest': 'location_entry',
'conditions': 'has_empty_location_info',
'after': 'add_gender_to_session_data'
},
# if business info is empty and gender and location info is filled proceed to business_entry menu
{
'trigger': 'feed_char',
'source': 'gender_entry',
'dest': 'change_my_business_prompt',
'unless': 'has_empty_location_info',
'conditions': 'has_empty_bio_info'
}
]
self.add_transitions(gender_entry_transitions)
# location_entry_transitions
location_entry_transitions = [
# if profile is complete, edit location_entry and authorize.
{
'trigger': 'feed_char',
'source': 'location_entry',
'dest': 'location_change_pin_authorization',
'conditions': 'has_complete_profile',
'after': 'add_location_to_session_data'
},
# if profile is complete save for location_entry change location and authorize.
{
'trigger':
'feed_char',
'source':
'location_entry',
'dest':
'location_change_pin_authorization',
'conditions':
'has_empty_location_info',
'unless': [
'has_complete_profile', 'has_empty_name_info',
'has_empty_gender_info', 'has_empty_bio_info'
],
'after':
'add_location_to_session_data'
},
# if bio info is empty proceed to bio entry menu
{
'trigger': 'feed_char',
'source': 'location_entry',
'dest': 'change_my_business_prompt',
'conditions': 'has_empty_bio_info',
'after': 'add_location_to_session_data'
},
]
self.add_transitions(location_entry_transitions)
# change_my_business_prompt_transitions
change_my_business_prompt_transitions = [
# if profile is complete, edit change_my_business_prompt and authorize.
{
'trigger': 'feed_char',
'source': 'change_my_business_prompt',
'dest': 'bio_change_pin_authorization',
'conditions': 'has_complete_profile',
'after': 'add_bio_to_session_data'
},
# if bio info is empty proceed to bio entry menu
{
'trigger': 'feed_char',
'source': 'change_my_business_prompt',
'dest': 'profile_info_change_pin_authorization',
'conditions': 'has_empty_bio_info',
'after': 'add_bio_to_session_data'
},
]
self.add_transitions(change_my_business_prompt_transitions)
# name_change_pin_authorization transitions
self.add_transition(trigger='feed_char',
source='name_change_pin_authorization',
dest='exit',
after='save_username_info')
# gender_change_pin_authorization transitions
self.add_transition(trigger='feed_char',
source='gender_change_pin_authorization',
dest='exit',
after='save_gender_info')
# location_change_pin_authorization transitions
self.add_transition(trigger='feed_char',
source='location_change_pin_authorization',
dest='exit',
after='save_location_info')
# bio_change_pin_authorization transitions
self.add_transition(trigger='feed_char',
source='bio_change_pin_authorization',
dest='exit',
after='save_bio_info')
# profile_info_change_pin_authorization transitions
self.add_transition(trigger='feed_char',
source='profile_info_change_pin_authorization',
dest='exit',
after='save_profile_info')
# view_profile_pin_authorization transitions
self.add_transition(trigger='feed_char',
source='view_profile_pin_authorization',
dest='about_me')
# event: exchange_token transitions
exchange_token_transitions = [{
'trigger': 'feed_char',
'source': 'exchange_token',
'dest': 'complete',
'conditions': 'menu_one_selected',
'after': 'fetch_user_exchange_rate'
}, {
'trigger': 'feed_char',
'source': 'exchange_token',
'dest': 'exchange_token_agent_number_entry',
'conditions': 'menu_two_selected'
}, {
'trigger': 'feed_char',
'source': 'exchange_token',
'dest': 'exit_invalid_menu_option'
}]
self.add_transitions(exchange_token_transitions)
# DEPRECATED - exchange rate currently given without requiring pin
# event: exchange_rate_pin_authorization transitions
exchange_rate_pin_authorization_transitions = [{
'trigger':
'feed_char',
'source':
'exchange_rate_pin_authorization',
'dest':
'complete',
'conditions':
'is_authorized_pin',
'after':
'fetch_user_exchange_rate'
}, {
'trigger':
'feed_char',
'source':
'exchange_rate_pin_authorization',
'dest':
'exit_pin_blocked',
'conditions':
'is_blocked_pin'
}]
self.add_transitions(exchange_rate_pin_authorization_transitions)
# event: exchange_token_agent_number_entry transitions
exchange_token_agent_number_entry_transitions = [{
'trigger':
'feed_char',
'source':
'exchange_token_agent_number_entry',
'dest':
'exchange_token_amount_entry',
'conditions':
'is_valid_token_agent',
'after':
'save_exchange_agent_phone'
}, {
'trigger':
'feed_char',
'source':
'exchange_token_agent_number_entry',
'dest':
'exit_invalid_token_agent'
}]
self.add_transitions(exchange_token_agent_number_entry_transitions)
# event: exchange_token_amount_entry transitions
exchange_token_amount_entry_transitions = [{
'trigger':
'feed_char',
'source':
'exchange_token_amount_entry',
'dest':
'exchange_token_pin_authorization',
'conditions':
['is_valid_token_amount', 'is_valid_token_exchange_amount'],
'after':
'save_exchange_amount'
}, {
'trigger':
'feed_char',
'source':
'exchange_token_amount_entry',
'dest':
'exit_invalid_exchange_amount'
}]
self.add_transitions(exchange_token_amount_entry_transitions)
# event: exchange_token_pin_authorization transitions
exchange_token_pin_authorization_transitions = [{
'trigger':
'feed_char',
'source':
'exchange_token_pin_authorization',
'dest':
'exchange_token_confirmation',
'conditions':
'is_authorized_pin'
}, {
'trigger':
'feed_char',
'source':
'exchange_token_pin_authorization',
'dest':
'exit_pin_blocked',
'conditions':
'is_blocked_pin'
}]
self.add_transitions(exchange_token_pin_authorization_transitions)
# event: exchange_token_confirmation transitions
exchange_token_confirmation_transitions = [{
'trigger':
'feed_char',
'source':
'exchange_token_confirmation',
'dest':
'complete',
'conditions':
'menu_one_selected',
'after':
'process_exchange_token_request'
}, {
'trigger':
'feed_char',
'source':
'exchange_token_confirmation',
'dest':
'exit',
'conditions':
'menu_two_selected'
}, {
'trigger':
'feed_char',
'source':
'exchange_token_confirmation',
'dest':
'exit_invalid_menu_option'
}]
self.add_transitions(exchange_token_confirmation_transitions)
#print("*** action_Insert ***")
#同じ文字をInsertするかどうか
pass
def action_Substitution(self):
#print("*** action_Substitution ***")
pass
def action_Stop(self):
#print("*** action_Stop ***")
pass
lump = Matter()
machine = Machine(model=lump,
states=states,
transitions=transitions,
initial='Si')
#http://www.speech.cs.cmu.edu/cgi-bin/cmudict
#https://pronouncing.readthedocs.io/en/latest/tutorial.html
#補助シンボルなし
def Insert(word):
lump.Insert()
#print("Insert")
index = int(np.random.randint(0, len(phenome), 1))
Nosiyword = d[index]
return Nosiyword
def Substitution(word):
def __init__(self):
self.machine = Machine(model=self, states=Document.states, initial="draft")
self.machine.add_transition(trigger="publish", source="draft", dest="moderation")
self.machine.add_transition(trigger="publish", source="moderation", dest="published")
self.machine.add_transition(trigger="reject", source="moderation", dest="draft")
class PerpetualRiderAgent(Agent):
lateral_states = ['keep_lane', 'change_lane']
def __init__(self, desired_speed=7.5, radical=0.75, minimal_ttc=5.):
super().__init__()
self.lateral_decider = Machine(
model=self,
states=PerpetualRiderAgent.lateral_states,
initial='keep_lane')
self.lateral_decider.add_transition(
"decide",
"keep_lane",
"change_lane",
conditions=['am_too_slow', 'can_safely_change_lane'])
self.lateral_decider.add_transition("decide",
"keep_lane",
"keep_lane",
after='act_keep_lane')
self.lateral_decider.add_transition(
"decide",
"change_lane",
"keep_lane",
conditions=['changing_seems_finished'],
after='act_keep_lane')
self.lateral_decider.add_transition("decide", "change_lane",
"change_lane")
self.desired_speed = desired_speed
self.radical = radical
self.minimal_ttc = minimal_ttc
@property
def am_too_slow(self):
return self.ego_speed < self.desired_speed * self.radical
@property
def can_safely_change_lane(self):
if self.neighbors['ego_lane_front'] is None:
return False
for waypoints in self.obs.waypoint_paths:
if waypoints[0].lane_index + 1 == self.ego_lane_index:
if self.calc_ttc(self.neighbors['left_lane_front']) <= \
self.calc_ttc(self.neighbors['ego_lane_front']):
continue
safe_speed_min = max(
0, self.safe_speed(self.neighbors['left_lane_behind']))
safe_speed_max = self.safe_speed(
self.neighbors['left_lane_front'])
if safe_speed_min > safe_speed_max:
continue
self.ego_lane_id_before = self.obs.ego_vehicle_state.lane_id
self.command = ((safe_speed_min + safe_speed_max) / 2., 1)
return True
if waypoints[0].lane_index - 1 == self.ego_lane_index:
if self.calc_ttc(self.neighbors['right_lane_front']) <= \
self.calc_ttc(self.neighbors['ego_lane_front']):
continue
safe_speed_min = max(
0, self.safe_speed(self.neighbors['right_lane_behind']))
safe_speed_max = self.safe_speed(
self.neighbors['right_lane_front'])
if safe_speed_min > safe_speed_max:
continue
self.ego_lane_id_before = self.obs.ego_vehicle_state.lane_id
self.command = ((safe_speed_min + safe_speed_max) / 2., -1)
return True
return False
@property
def changing_seems_finished(self):
if self.ego_lane_id_before != self.obs.ego_vehicle_state.lane_id:
return True
return False
def act_keep_lane(self):
all_safe_speed = [self.desired_speed]
safe_speed = self.desired_speed
for ne in self.obs.neighborhood_vehicle_states:
if self.afront_of_me(ne) and self.dist(ne) < 80:
safe_speed = min(self.safe_speed(ne), safe_speed)
all_safe_speed.append(safe_speed)
self.command = (safe_speed, 0)
min_dist = math.inf
nearest_ne = None
for ne in self.obs.neighborhood_vehicle_states:
if self.dist(ne) < min_dist:
nearest_ne = ne
min_dist = self.dist(nearest_ne)
def afront_of_me(self, ne):
rel_pos = ne.position - self.ego_position
rel_ang_world = math.atan2(rel_pos[1].item(), rel_pos[0].item())
rel_ang_self = rel_ang_world - self.obs.ego_vehicle_state.heading
return math.sin(rel_ang_self) > 0
def dist(self, ne):
if ne is None: return float('inf')
rel_pos = ne.position - self.ego_position
dist_ = np.linalg.norm(rel_pos, ord=2)
return dist_
def calc_ttc(self, ne):
if ne is None: return float('inf')
if self.afront_of_me(ne):
ttc = self.dist(ne) / (self.ego_speed - ne.speed)
else:
ttc = self.dist(ne) / (ne.speed - self.ego_speed)
return ttc
def safe_speed(self, ne):
# print(f"ne is None: {ne is None}, ", end="\n" if ne is None else "")
if ne is None: return self.desired_speed
if self.afront_of_me(ne):
# print("ne is afront of me")
ssp = self.dist(ne) / self.minimal_ttc + ne.speed
else:
# print("ne is behind me")
ssp = -self.dist(ne) / self.minimal_ttc + ne.speed
return ssp
def parse_obs(self):
self.ego_speed = self.obs.ego_vehicle_state.speed
self.ego_lane_index = self.obs.ego_vehicle_state.lane_index
self.ego_position = self.obs.ego_vehicle_state.position
self.neighbors = dict(ego_lane_front=None,
left_lane_front=None,
left_lane_behind=None,
right_lane_front=None,
right_lane_behind=None)
def update_neighbors(key, ne):
if self.neighbors[key] is None or self.dist(ne) < self.dist(
self.neighbors[key]):
self.neighbors[key] = ne
for ne in self.obs.neighborhood_vehicle_states:
if self.ego_lane_index == ne.lane_index and self.afront_of_me(ne):
update_neighbors('ego_lane_front', ne)
elif self.ego_lane_index - 1 == ne.lane_index:
if self.afront_of_me(ne):
update_neighbors('left_lane_front', ne)
else:
update_neighbors('left_lane_behind', ne)
elif self.ego_lane_index + 1 == ne.lane_index:
if self.afront_of_me(ne):
update_neighbors('right_lane_front', ne)
else:
update_neighbors('right_lane_behind', ne)
else:
continue
def act(self, obs: Observation):
self.obs = obs
self.parse_obs()
self.decide()
return self.command
def test_auto_transitions(self):
states = ['A', {'name': 'B'}, State(name='C')]
m = Machine(None, states, initial='A', auto_transitions=True)
m.to_B()
self.assertEquals(m.state, 'B')
m.to_C()
self.assertEquals(m.state, 'C')
m.to_A()
self.assertEquals(m.state, 'A')
# Should fail if auto transitions is off...
m = Machine(None, states, initial='A', auto_transitions=False)
with self.assertRaises(AttributeError):
m.to_C()
def run(self, filename):
logger.setLevel(logging.INFO)
machine = self
M = Machine(model=machine,
states=self.states,
transitions=self.transitions,
initial='none')
start_stepper = 'Entering Rythmos::.*::advanceStepperToTime'
end_stepper = 'Leaving Rythmos::.*::advanceStepperToTime'
start_c_step = 'Entering Rythmos::.*::takeStep'
end_c_step = 'Leaving Rythmos::.*::takeStep'
start_nl_step = '(?<=Nonlinear Solver Step )\d*'
end_nl_step_good = '\(Converged!\)'
end_nl_step_bad = '\(Failed!\)'
start_residual_belos = '\*\*\*\*\* Belos Iterative Solver: '
mid_residual = 'Iter.*, \[.*\] :\s*.*'
end_residual_belos_good = '(?<=returned a solve status of "SOLVE_STATUS_CONVERGED" in )\d*'
end_residual_belos_bad = '(?<=returned a solve status of "SOLVE_STATUS_UNCONVERGED" in )\d*'
start_timers = '(?<=TimeMonitor results over )\d*'
mid_timers = '.* \(.*\)\s*$'
end_timers = '==========='
timer_names = []
timer_times = {}
timer_calls = {}
timer_serial = None
nl_step = 0
t_step = 0
lineno = 0
yaml_string = '{"scheme":"drekar","Steps":{'
with open(filename) as f:
try:
for line in f:
lineno += 1
if re.search(start_stepper, line) != None:
if machine.state != 'none':
raise RuntimeError('Wrong state: ' + machine.state)
t_step = 0
elif re.search(end_stepper, line) != None:
if machine.state != 'none':
raise RuntimeError('Wrong state: ' + machine.state)
elif re.search(start_c_step, line) != None:
if machine.state != 'none':
raise RuntimeError('Wrong state: ' + machine.state)
machine.n2t()
if yaml_string[-1] != '{':
yaml_string += ','
yaml_string += '"c_step_' + str(t_step) + '":{'
elif re.search(end_c_step, line) != None:
if machine.state != 'transient':
raise RuntimeError('Wrong state: ' + machine.state)
machine.t2n()
yaml_string += ', "nl_its":' + str(nl_step) + '}'
nl_step = 0
t_step += 1
elif re.search(start_nl_step, line) != None:
if machine.state != 'transient':
raise RuntimeError('Wrong state: ' + machine.state)
machine.t2nl()
if yaml_string[-1] != '{':
yaml_string += ','
yaml_string += '"nl_step_' + str(nl_step) + '":{'
nl_step += 1
elif re.search(end_nl_step_good,
line) != None or re.search(
end_nl_step_bad, line) != None:
if machine.state != 'nonlinear':
raise RuntimeError('Wrong state: ' + machine.state)
machine.nl2t()
# Get rid of ",nl_step_?:{}
i = 1
while (yaml_string[-i] != ','):
i += 1
yaml_string = yaml_string[:-i]
elif re.search(start_residual_belos, line) != None:
if machine.state != 'nonlinear':
raise RuntimeError('Wrong state: ' + machine.state)
machine.nl2l()
if yaml_string[-1] != '{':
yaml_string += ','
yaml_string += '"res_hist":['
elif re.search(end_residual_belos_good,
line) != None or re.search(
end_residual_belos_bad, line) != None:
if machine.state != 'linear':
raise RuntimeError('Wrong state: ' + machine.state)
machine.l2t()
m = re.search(end_residual_belos_good, line)
if m != None:
its = m.group()
else:
m = re.search(end_residual_belos_bad, line)
its = m.group()
yaml_string += '], "its":' + its
m = re.search(
'(?<=with total CPU time of ).*(?=\ sec)', line)
belos_time = m.group()
yaml_string += ', "solve_time":' + belos_time + '}'
elif re.search(mid_residual, line) != None:
if machine.state != 'linear':
raise RuntimeError('Wrong state: ' + machine.state)
m = re.search('[^\s]*$', line)
res = m.group()
if yaml_string[-1] != '[':
yaml_string += ','
yaml_string += res
elif re.search(start_timers, line) != None:
if machine.state != 'none':
raise RuntimeError('Wrong state: ' + machine.state)
machine.n2m()
m = re.search(start_timers, line)
nprocs = m.group()
if nprocs == "1":
timer_serial = True
else:
timer_serial = False
# Finalize stepping
yaml_string += '}'
yaml_string += ',"Number of processes":' + nprocs
yaml_string += ',"Time unit":s'
yaml_string += ',"Statistics collected":["MinOverProcs","MeanOverProcs","MaxOverProcs","MeanOverCallCounts"]'
elif re.search(end_timers, line) != None:
if machine.state != 'timers':
# there could be other ======== lines
continue
machine.m2n()
# Timer names
yaml_string += ',"Timer names":['
for name in timer_names:
if yaml_string[-1] != '[':
yaml_string += ','
yaml_string += '"' + name + '"'
yaml_string += ']'
# Total times
yaml_string += ',"Total times":{'
for name in timer_names:
if yaml_string[-1] != '{':
yaml_string += ','
yaml_string += '"' + name + '":{'
yaml_string += '"MinOverProcs":' + timer_times[
name]['MinOverProcs']
yaml_string += ',"MeanOverProcs":' + timer_times[
name]['MeanOverProcs']
yaml_string += ',"MaxOverProcs":' + timer_times[
name]['MaxOverProcs']
yaml_string += ',"MeanOverCallCounts":' + timer_times[
name]['MeanOverCallCounts']
yaml_string += '}'
yaml_string += '}'
# Call counts
yaml_string += ',"Call counts":{'
for name in timer_calls:
if yaml_string[-1] != '{':
yaml_string += ','
yaml_string += '"' + name + '":{'
yaml_string += '"MinOverProcs":' + timer_times[
name]['MinOverProcs']
yaml_string += ',"MeanOverProcs":' + timer_times[
name]['MeanOverProcs']
yaml_string += ',"MaxOverProcs":' + timer_times[
name]['MaxOverProcs']
yaml_string += ',"MeanOverCallCounts":' + timer_times[
name]['MeanOverCallCounts']
yaml_string += '}'
yaml_string += '}'
yaml_string += '}'
elif re.search(mid_timers, line) != None:
if machine.state != 'timers':
# there could be other matching lines
continue
if re.search('Timer Name', line) != None:
# Skip header (in serial it matches the pattern)
continue
splits = line.split()
if timer_serial == True:
name = ' '.join(splits[0:-2])
name = name.replace('"', '\\"')
timer_names.append(name)
timer_times[name] = {}
timer_times[name]['MinOverProcs'] = splits[-2]
timer_times[name]['MeanOverProcs'] = splits[-2]
timer_times[name]['MaxOverProcs'] = splits[-2]
timer_times[name]['MeanOverCallCounts'] = splits[
-2]
timer_calls[name] = {}
timer_calls[name]['MinOverProcs'] = splits[-1][
1:-1]
timer_calls[name]['MeanOverProcs'] = splits[-1][
1:-1]
timer_calls[name]['MaxOverProcs'] = splits[-1][
1:-1]
timer_calls[name]['MeanOverCallCounts'] = splits[
-1][1:-1]
else:
name = ' '.join(splits[0:-8])
name = name.replace('"', '\\"')
timer_names.append(name)
timer_times[name] = {}
timer_times[name]['MinOverProcs'] = splits[-8]
timer_times[name]['MeanOverProcs'] = splits[-6]
timer_times[name]['MaxOverProcs'] = splits[-4]
timer_times[name]['MeanOverCallCounts'] = splits[
-2]
timer_calls[name] = {}
timer_calls[name]['MinOverProcs'] = splits[-7][
1:-1]
timer_calls[name]['MeanOverProcs'] = splits[-5][
1:-1]
timer_calls[name]['MaxOverProcs'] = splits[-3][
1:-1]
timer_calls[name]['MeanOverCallCounts'] = splits[
-1][1:-1]
except RuntimeError as e:
raise RuntimeError("Caught an error while parsing on line " +
str(lineno) + ": " + e.args[0])
if timer_serial == None:
# We did not encounter any timers
yaml_string += '}}'
try:
yaml_data = yaml.load(yaml_string)
except yaml.parser.ParserError:
raise RuntimeError(
'Could not parse YAML out. Did you select the right mode?')
return yaml_data
def __init__(self, **machine_configs):
self.machine = Machine(model=self, **machine_configs)
self.mode = 'all'
self.lastResult = None
class Session:
states = ["new", "connected", "disconnected"]
def __init__(self, plugins_manager):
self._init_states()
self._plugins_manager = plugins_manager
self.remote_address = None
self.remote_port = None
self.client_id = None
self.clean_session = None
self.will_flag = False
self.will_message = None
self.will_qos = None
self.will_retain = None
self.will_topic = None
self.keep_alive = 0
self.publish_retry_delay = 0
self.broker_uri = None
self.username = None
self.password = None
self.cafile = None
self.capath = None
self.cadata = None
self._packet_id = 0
self.parent = 0
self.logger = logging.getLogger(__name__)
# Used to store outgoing ApplicationMessage while publish protocol flows
self.inflight_out = OrderedDict()
# Used to store incoming ApplicationMessage while publish protocol flows
self.inflight_in = OrderedDict()
# Stores messages retained for this session
self.retained_messages = anyio.create_queue(9999)
# Stores PUBLISH messages ID received in order and ready for application process
self._delivered_message_queue = anyio.create_queue(9999)
# The actual delivery process
self._delivery_task = None
self._delivery_stopped = anyio.create_event()
# The broker we're attached to
self._broker = None
def _init_states(self):
self.transitions = Machine(states=Session.states, initial="new")
self.transitions.add_transition(trigger="connect", source="new", dest="connected")
self.transitions.add_transition(trigger="connect", source="disconnected", dest="connected")
self.transitions.add_transition(
trigger="disconnect", source="connected", dest="disconnected"
)
self.transitions.add_transition(trigger="disconnect", source="new", dest="disconnected")
self.transitions.add_transition(
trigger="disconnect", source="disconnected", dest="disconnected"
)
def __hash__(self):
return hash(self.client_id)
def __eq__(self, other):
other = getattr(other, "client_id", other)
return self.client_id == other
async def start(self, broker=None):
if broker is not None:
self._broker = broker
if self._delivery_task is not None:
raise RuntimeError("Already running")
await broker._tg.spawn(self._delivery_loop)
async def stop(self):
if self._delivery_task is not None:
await self._delivery_task.cancel()
await self._delivery_stopped.wait()
self._broker = None # break ref loop
async def put_message(self, app_message):
if app_message.retain and self._broker is not None and not self._broker._do_retain:
raise RuntimeError("The broker doesn't do retains", repr(app_message.__getstate__()))
if not app_message.topic:
self.logger.warning(
"[MQTT-4.7.3-1] - %s invalid TOPIC sent in PUBLISH message,closing connection",
self.client_id,
)
raise MQTTException(
"[MQTT-4.7.3-1] - %s invalid TOPIC sent in PUBLISH message,closing connection"
% self.client_id
)
if "#" in app_message.topic or "+" in app_message.topic:
self.logger.warning(
"[MQTT-3.3.2-2] - %s invalid TOPIC sent in PUBLISH message, closing connection",
self.client_id,
)
raise MQTTException(
"[MQTT-3.3.2-2] - %s invalid TOPIC sent in PUBLISH message, closing connection"
% self.client_id
)
if app_message.qos == QOS_0 and self._delivered_message_queue.qsize() >= 9999:
self.logger.warning("delivered messages queue full. QOS_0 message discarded")
else:
await self._delivered_message_queue.put(app_message)
async def get_next_message(self):
"""Client: get the next message"""
m = await self._delivered_message_queue.get()
# split up so that a breakpoint may be set
return m
async def _delivery_loop(self):
"""Server: process incoming messages"""
try:
async with anyio.open_cancel_scope() as scope:
self._delivery_task = scope
broker = self._broker
broker.logger.debug("%s handling message delivery", self.client_id)
while True:
app_message = await self.get_next_message()
await self._plugins_manager.fire_event(
EVENT_BROKER_MESSAGE_RECEIVED,
client_id=self.client_id,
message=app_message,
)
await broker.broadcast_message(
self,
app_message.topic,
app_message.data,
qos=app_message.qos,
retain=app_message.publish_packet.retain_flag,
)
finally:
async with anyio.fail_after(2, shield=True):
broker.logger.debug("%s finished message delivery", self.client_id)
self._delivery_task = None
await self._delivery_stopped.set()
@property
def next_packet_id(self):
self._packet_id += 1
if self._packet_id > 65535:
self._packet_id = 1
limit = self._packet_id
while self._packet_id in self.inflight_in or self._packet_id in self.inflight_out:
self._packet_id += 1
if self._packet_id > 65535:
self._packet_id = 1
if self._packet_id == limit:
raise DistMQTTException("More than 65535 messages pending. No free packet ID")
return self._packet_id
@property
def inflight_in_count(self):
return len(self.inflight_in)
@property
def inflight_out_count(self):
return len(self.inflight_out)
@property
def retained_messages_count(self):
return self.retained_messages.qsize()
def __repr__(self):
return type(self).__name__ + "(clientId={0}, state={1})".format(
self.client_id, self.transitions.state
)
def __getstate__(self):
state = self.__dict__.copy()
# Remove the unpicklable entries.
# del state['transitions']
del state["retained_messages"]
del state["_delivered_message_queue"]
del state["_delivery_task"]
del state["_delivery_stopped"]
del state["_broker"]
return state
def __setstate(self, state):
self.__dict__.update(state)
self.retained_messages = anyio.create_queue(9999)
self._delivered_message_queue = anyio.create_queue(9999)
lump = Matter()
# The states
states = ['solid', 'liquid', 'gas', 'plasma']
# And some transitions between states. We're lazy, so we'll leave out
# the inverse phase transitions (freezing, condensation, etc.).
transitions = [{
'trigger': 'melt',
'source': 'solid',
'dest': 'liquid'
}, {
'trigger': 'evaporate',
'source': 'liquid',
'dest': 'gas'
}, {
'trigger': 'sublimate',
'source': 'solid',
'dest': 'gas'
}, {
'trigger': 'ionize',
'source': 'gas',
'dest': 'plasma'
}]
# Initialize
machine = Machine(lump,
states=states,
transitions=transitions,
initial='liquid')
def __init__(self,
agent,
device_id,
alarm_sync_tasks,
db,
advertise_events=False,
states=DEFAULT_STATES,
transitions=DEFAULT_TRANSITIONS,
initial_state='disabled',
timeout_delay=DEFAULT_TIMEOUT_RETRY,
audit_delay=DEFAULT_AUDIT_DELAY,
resync_delay=DEFAULT_RESYNC_DELAY):
"""
Class initialization
:param agent: (OpenOmciAgent) Agent
:param device_id: (str) ONU Device ID
:param db: (MibDbApi) MIB/Alarm Database
:param advertise_events: (bool) Advertise events on OpenOMCI Event Bus
:param alarm_sync_tasks: (dict) Tasks to run
:param states: (list) List of valid states
:param transitions: (dict) Dictionary of triggers and state changes
:param initial_state: (str) Initial state machine state
:param timeout_delay: (int/float) Number of seconds after a timeout to attempt
a retry (goes back to starting state)
:param audit_delay: (int) Seconds between Alarm audits while in sync. Set to
zero to disable audit. An operator can request
an audit manually by calling 'self.audit_alarm'
:param resync_delay: (int) Seconds in sync before performing a forced Alarm
resynchronization
"""
self.log = structlog.get_logger(device_id=device_id)
self._agent = agent
self._device_id = device_id
self._device = None
self._database = db
self._timeout_delay = timeout_delay
self._audit_delay = audit_delay
self._resync_delay = resync_delay
self._update_task = alarm_sync_tasks['alarm-sync']
self._check_task = alarm_sync_tasks['alarm-check']
self._resync_task = alarm_sync_tasks['alarm-resync']
self._audit_task = alarm_sync_tasks['alarm-audit']
self._advertise_events = advertise_events
self._deferred = None
self._current_task = None # TODO: Support multiple running tasks after v.1.3.0 release
self._task_deferred = None
self._last_alarm_sync_time = None
self._last_alarm_sequence_value = None
self._device_in_db = False
self._alarm_class_id = None
self._alarm_entity_id = None
self._commands_retrieved = None
self._alarm_table = None
self._event_bus = EventBusClient()
self._omci_cc_subscriptions = { # RxEvent.enum -> Subscription Object
RxEvent.Get_ALARM_Get: None,
RxEvent.Get_ALARM_Get_Next: None
}
self._omci_cc_sub_mapping = {
RxEvent.Get_ALARM_Get: self.on_alarm_update_response,
RxEvent.Get_ALARM_Get_Next: self.on_alarm_update_next_response
}
# Statistics and attributes
# TODO: add any others if it will support problem diagnosis
# Set up state machine to manage states
self.machine = Machine(model=self,
states=states,
transitions=transitions,
initial=initial_state,
queued=True,
name='{}-{}'.format(self.__class__.__name__,
device_id))
def __init__(self,
input_file,
allowed_archive_path_regexes=None,
allowed_dest_path_regexes=None,
allowed_extensions=None,
allowed_regexes=None,
archive_input_file=False,
archive_path_function=None,
celery_task=None,
check_params=None,
config=None,
custom_params=None,
dest_path_function=None,
error_cleanup_regexes=None,
exclude_regexes=None,
harvest_params=None,
harvest_type='talend',
include_regexes=None,
notify_params=None,
upload_path=None,
resolve_params=None):
# property backing variables
self._config = None
self._default_addition_publish_type = PipelineFilePublishType.HARVEST_UPLOAD
self._default_deletion_publish_type = PipelineFilePublishType.DELETE_UNHARVEST
self._error = None
self._error_details = None
self._exclude_regexes = None
self._file_basename = None
self._file_checksum = None
self._file_collection = None
self._file_extension = None
self._file_type = None
self._include_regexes = None
self._input_file_archive_path = None
self._instance_working_directory = None
self._notification_results = None
self._is_archived = False
self._logger = None
self._result = HandlerResult.UNKNOWN
self._should_notify = None
self._start_time = datetime.now()
# public attributes
self.input_file = input_file
self.allowed_archive_path_regexes = allowed_archive_path_regexes
self.allowed_dest_path_regexes = allowed_dest_path_regexes
self.allowed_extensions = allowed_extensions
self.allowed_regexes = allowed_regexes
self.archive_input_file = archive_input_file
self.archive_path_function = archive_path_function
self.celery_task = celery_task
self.check_params = check_params
self.custom_params = custom_params
self.config = config
self.dest_path_function = dest_path_function
self.error_cleanup_regexes = error_cleanup_regexes
self.exclude_regexes = exclude_regexes
self.harvest_params = harvest_params
self.harvest_type = harvest_type
self.include_regexes = include_regexes
self.notify_params = notify_params
self.upload_path = upload_path
self.resolve_params = resolve_params
# private attributes
self._archive_path_function_ref = None
self._archive_path_function_name = None
self._dest_path_function_ref = None
self._dest_path_function_name = None
self._handler_run = False
self._machine = Machine(model=self,
states=HandlerBase.all_states,
initial='HANDLER_INITIAL',
auto_transitions=False,
transitions=HandlerBase.all_transitions,
after_state_change='_after_state_change')
class QuestState(metaclass=MetaSingleton):
_instance = None
def get_state_handler(self):
if self._instance is None:
self._instance = QuestState()
return self._instance
def __init__(self):
self.machine = Machine(
model=self,
states=[state.name for state in QuestStateType],
initial=QuestStateType(1).name,
ignore_invalid_triggers=True,
auto_transitions=False,
)
# init -> editing
self.machine.add_transition(trigger=Actions.EDIT_START_EDITING.name,
source=QuestStateType.MODE_SELECTION.name,
dest=QuestStateType.EDIT_INIT.name)
# editing -> init
self.machine.add_transition(
trigger=Actions.LEVEL_UP.name,
source=QuestStateType.EDIT_INIT.name,
dest=QuestStateType.MODE_SELECTION.name,
)
# editing -> edit existing quest
self.machine.add_transition(
trigger=Actions.SELECT_EXISTING_QUEST.name,
source=QuestStateType.EDIT_INIT.name,
dest=QuestStateType.EDIT_QUEST.name,
)
# edit existing quest -> editing
self.machine.add_transition(
trigger=Actions.LEVEL_UP.name,
source=QuestStateType.EDIT_QUEST.name,
dest=QuestStateType.EDIT_INIT.name,
)
# editing -> edit new quest
self.machine.add_transition(
trigger=Actions.CREATE_NEW_QUEST.name,
source=QuestStateType.EDIT_INIT.name,
dest=QuestStateType.EDIT_QUEST.name,
)
self.machine.add_transition(
trigger=Actions.ENTER_STEP_ID.name,
source=QuestStateType.EDIT_QUEST.name,
dest=QuestStateType.EDIT_QUEST_STEP.name,
)
self.machine.add_transition(
trigger=Actions.LEVEL_UP.name,
source=QuestStateType.EDIT_QUEST_STEP.name,
dest=QuestStateType.EDIT_QUEST.name,
)
self.machine.add_transition(
trigger=Actions.PLAY.name,
source=QuestStateType.MODE_SELECTION.name,
dest=QuestStateType.PLAY_START.name,
)
self.machine.add_transition(
trigger=Actions.LEVEL_UP.name,
source=QuestStateType.PLAY_START.name,
dest=QuestStateType.MODE_SELECTION.name,
)
def test_callback_identification(self):
m = Machine(Stuff(), states=['A', 'B', 'C', 'D', 'E', 'F'], initial='A')
m.add_transition('transition', 'A', 'B', before='increase_level')
m.add_transition('after', 'B', 'C', before='increase_level')
m.add_transition('on_exit_A', 'C', 'D', before='increase_level', conditions='this_fails')
m.add_transition('check', 'C', 'E', before='increase_level')
m.add_transition('prepare', 'E', 'F', before='increase_level')
m.add_transition('before', 'F', 'A', before='increase_level')
m.before_transition('increase_level')
m.before_after('increase_level')
m.before_on_exit_A('increase_level')
m.after_check('increase_level')
m.before_prepare('increase_level')
m.before_before('increase_level')
m.model.transition()
self.assertEquals(m.model.state, 'B')
self.assertEquals(m.model.level, 3)
m.model.after()
self.assertEquals(m.model.state, 'C')
self.assertEquals(m.model.level, 5)
m.model.on_exit_A()
self.assertEquals(m.model.state, 'C')
self.assertEquals(m.model.level, 5)
m.model.check()
self.assertEquals(m.model.state, 'E')
self.assertEquals(m.model.level, 7)
m.model.prepare()
self.assertEquals(m.model.state, 'F')
self.assertEquals(m.model.level, 9)
m.model.before()
self.assertEquals(m.model.state, 'A')
self.assertEquals(m.model.level, 11)
# An invalid transition shouldn't execute the callback
with self.assertRaises(MachineError):
m.model.on_exit_A()
class player:
def __init__(self, nick):
self.__nick = nick # player's nick in irc
self.__alive = True
self.__max_hp = 0
self.__hp = 0
self.__range = 1
self.__use_sha = True
self.__cards = []
self.__id = IDENTITY['unknown']
self.__machine = Machine(model=self,
states=STATUS,
initial=STATUS_DICT['normal'])
list(
map(
lambda t: self.__machine.add_transition(
t['trigger'], t['source'], t['dest']), TRANSITIONS))
def nick(self):
return self.__nick
def set_id(self, id):
self.__id = id
def secret(self):
return self.__id
def id(self):
if self.is_king() or not (self.is_alive()):
return self.__id
else:
return IDENTITY['unknown']
def is_king(self):
return self.__id == IDENTITY['king']
def is_alive(self):
return self.__alive
def set_dead(self):
self.__alive = False
def max_hp(self):
return self.__max_hp
def change_max_hp(self, value):
self.__max_hp = value
def hp(self):
return self.__hp
def set_initial_hp(self, value):
self.change_max_hp(value)
self.__hp = value
def increase_hp(self):
if self.__hp < self.__max_hp:
self.__hp += 1
return True
else:
return False
def decrease_hp(self, value):
self.__hp -= value
def range(self):
return self.__range
def get_card(self, card):
self.__cards.append(card)
def card(self):
return self.__cards
def choose_card(self, card):
if card:
index = self.__cards.index(card)
return self.__cards.pop(index)
def can_use_sha(self):
return self.__use_sha
def used_sha(self):
self.__use_sha = False
#状態を管理したいオブジェクトの元となるクラス
# 遷移時やイベント発生時のアクションがある場合は、当クラスのmethodに記載する
class Matter(object):
def action_l2g(self):
print("*** from liquid to gas ***")
def action_g2p(self):
print("*** from gas to plasma ***")
lump = Matter()
machine = Machine(model=lump,
states=states,
transitions=transitions,
initial='liquid',
auto_transitions=False)
class StateMachine(object):
#状態の定義
states = ['solid', 'liquid', 'gas', 'plasma']
#初期化（ステートマシンの定義：とりうる状態の定義、初期状態の定義、各種遷移と紐付くアクションの定義）
def __init__(self, name):
self.name = name
self.machine = Machine(model=self,
states=StateMachine.states,
initial='liquid',
auto_transitions=False)
class Broker:
"""
MQTT 3.1.1 compliant broker implementation
:param tg: The task group used to run the broker's tasks.
:param config: Example Yaml config
:param plugin_namespace: Plugin namespace to use when loading plugin entry_points. Defaults to ``hbmqtt.broker.plugins``
Usage::
async with anyio.create_task_group() as tg:
b = Broker(tg, config, plugin_namespace)
try:
await b.start()
pass ## do something with the broker
finally:
await b.shutdown()
await tg.cancel_scope.cancel()
Typically, though, you'll want to use :func:`create_broker`, which does
this for you.
"""
states = [
'new', 'starting', 'started', 'not_started', 'stopping', 'stopped',
'not_stopped', 'stopped'
]
def __init__(self,
tg: anyio.abc.TaskGroup,
config=None,
plugin_namespace=None):
self.logger = logging.getLogger(__name__)
self.config = _defaults
if config is not None:
self.config.update(config)
self._build_listeners_config(self.config)
self._servers = dict()
self._init_states()
self._sessions = dict()
self._subscriptions = dict()
self._retained_messages = dict()
self._broadcast_queue = anyio.create_queue(9999)
self._tg = tg
# Init plugins manager
context = BrokerContext(self)
context.config = self.config
if plugin_namespace:
namespace = plugin_namespace
else:
namespace = 'hbmqtt.broker.plugins'
self.plugins_manager = PluginManager(tg, namespace, context)
def _build_listeners_config(self, broker_config):
self.listeners_config = dict()
try:
listeners_config = broker_config['listeners']
defaults = listeners_config.get('default', {})
for listener in listeners_config:
config = dict(defaults)
config.update(listeners_config[listener])
self.listeners_config[listener] = config
except KeyError as ke:
raise BrokerException(
"Listener config not found or invalid") from ke
def _init_states(self):
self.transitions = Machine(states=Broker.states, initial='new')
self.transitions.add_transition(trigger='start',
source='new',
dest='starting')
self.transitions.add_transition(trigger='starting_fail',
source='starting',
dest='not_started')
self.transitions.add_transition(trigger='starting_success',
source='starting',
dest='started')
self.transitions.add_transition(trigger='shutdown',
source='started',
dest='stopping')
self.transitions.add_transition(trigger='shutdown',
source='not_started',
dest='stopping')
self.transitions.add_transition(trigger='stopping_success',
source='stopped',
dest='stopped')
self.transitions.add_transition(trigger='stopping_failure',
source='stopping',
dest='not_stopped')
self.transitions.add_transition(trigger='start',
source='stopped',
dest='starting')
self.transitions.add_transition(trigger='shutdown',
source='new',
dest='stopped')
self.transitions.add_transition(trigger='stopping_success',
source='stopping',
dest='stopped')
async def start(self):
"""
Start the broker to serve with the given configuration
Start method opens network sockets and will start listening for incoming connections.
This method is a *coroutine*.
"""
try:
self._sessions = dict()
self._subscriptions = dict()
self._retained_messages = dict()
self.transitions.start()
self.logger.debug("Broker starting")
except (MachineError, ValueError) as exc:
# Backwards compat: MachineError is raised by transitions < 0.5.0.
self.logger.warning(
"[WARN-0001] Invalid method call at this moment: %r", exc)
raise BrokerException("Broker instance can't be started: %s" % exc)
await self.plugins_manager.fire_event(EVENT_BROKER_PRE_START)
try:
# Start network listeners
for listener_name in self.listeners_config:
listener = self.listeners_config[listener_name]
if 'bind' not in listener:
self.logger.debug(
"Listener configuration '%s' is not bound",
listener_name)
else:
# Max connections
try:
max_connections = listener['max_connections']
except KeyError:
max_connections = -1
# SSL Context
sc = None
# accept string "on" / "off" or boolean
ssl_active = listener.get('ssl', False)
if isinstance(ssl_active, str):
ssl_active = ssl_active.upper() == 'ON'
if ssl_active:
try:
sc = ssl.create_default_context(
ssl.Purpose.CLIENT_AUTH,
cafile=listener.get('cafile'),
capath=listener.get('capath'),
cadata=listener.get('cadata'))
sc.load_cert_chain(listener['certfile'],
listener['keyfile'])
sc.verify_mode = ssl.CERT_OPTIONAL
except KeyError as ke:
raise BrokerException(
"'certfile' or 'keyfile' configuration parameter missing: %s"
% ke)
except FileNotFoundError as fnfe:
raise BrokerException(
"Can't read cert files '%s' or '%s' : %s" %
(listener['certfile'], listener['keyfile'],
fnfe))
address, s_port = listener['bind'].split(':')
port = 0
try:
port = int(s_port)
except ValueError as ve:
raise BrokerException(
"Invalid port value in bind value: %s" %
listener['bind'])
async def server_task(evt, cb, address, port, ssl):
async with anyio.open_cancel_scope() as scope:
await evt.set(scope)
async with await anyio.create_tcp_server(
port, interface=address,
ssl_context=ssl) as server:
async for conn in server.accept_connections():
await self._tg.spawn(cb, conn)
if listener['type'] == 'tcp':
cb_partial = partial(self.stream_connected,
listener_name=listener_name)
elif listener['type'] == 'ws':
cb_partial = partial(self.ws_connected,
listener_name=listener_name)
else:
self.logger.error("Listener '%s': unknown type '%s'",
listener_name, listener['type'])
continue
fut = Future()
await self._tg.spawn(server_task,
fut,
cb_partial,
address,
port,
sc,
name=listener_name)
instance = await fut.get()
self._servers[listener_name] = Server(
listener_name, instance, max_connections)
self.logger.info(
"Listener '%s' bind to %s (max_connections=%d)",
listener_name, listener['bind'], max_connections)
self.transitions.starting_success()
await self.plugins_manager.fire_event(EVENT_BROKER_POST_START)
#Start broadcast loop
await self._tg.spawn(self._broadcast_loop)
self.logger.debug("Broker started")
except Exception as e:
if "Cancel" in repr(e):
raise # bah
self.logger.error("Broker startup failed: %r", e)
self.transitions.starting_fail()
raise BrokerException("Broker instance can't be started") from e
async def shutdown(self):
"""
Stop broker instance.
Closes all connected session, stop listening on network socket and free resources.
"""
for s in self._sessions.values():
await s[0].stop()
self._sessions = dict()
self._subscriptions = dict()
self._retained_messages = dict()
try:
self.transitions.shutdown()
except MachineError as exc:
# Backwards compat: MachineError is raised by transitions < 0.5.0.
raise BrokerException("Broker instance can't be stopped") from exc
# Fire broker_shutdown event to plugins
await self.plugins_manager.fire_event(EVENT_BROKER_PRE_SHUTDOWN)
# Stop broadcast loop
if self._broadcast_queue.qsize() > 0:
self.logger.warning("%d messages not broadcasted",
self._broadcast_queue.qsize())
for listener_name in self._servers:
server = self._servers[listener_name]
await server.close_instance()
self.logger.debug("Broker closing")
self.logger.info("Broker closed")
await self.plugins_manager.fire_event(EVENT_BROKER_POST_SHUTDOWN)
self.transitions.stopping_success()
async def internal_message_broadcast(self,
topic,
data,
qos=None,
retain=None):
return await self.broadcast_message(None,
topic,
data,
qos=qos,
retain=retain)
async def ws_connected(self, conn, listener_name):
async def subpro(req):
if "mqtt" not in req.subprotocols:
return False
return "mqtt"
websocket = await create_websocket_server(conn, filter=subpro)
await self.client_connected(listener_name,
WebSocketsAdapter(websocket))
async def stream_connected(self, conn, listener_name):
await self.client_connected(listener_name, StreamAdapter(conn))
async def client_connected(self, listener_name, adapter: BaseAdapter):
server = self._servers.get(listener_name, None)
if not server:
raise BrokerException("Invalid listener name '%s'" % listener_name)
async with server._client_limit():
return await self.client_connected_(server, listener_name, adapter)
async def client_connected_(self, server, listener_name,
adapter: BaseAdapter):
# Wait for connection available on listener
remote_address, remote_port = adapter.get_peer_info()
self.logger.info("Connection from %s:%d on listener '%s'",
remote_address, remote_port, listener_name)
# Wait for first packet and expect a CONNECT
try:
handler, client_session = await BrokerProtocolHandler.init_from_connect(
adapter, self.plugins_manager)
except HBMQTTException as exc:
self.logger.warning(
"[MQTT-3.1.0-1] %s: Can't read first packet an CONNECT: %s",
format_client_message(address=remote_address,
port=remote_port), exc)
#await writer.close()
self.logger.debug("Connection closed")
return
except MQTTException as me:
self.logger.error(
'Invalid connection from %s : %s',
format_client_message(address=remote_address,
port=remote_port), me)
await adapter.close()
self.logger.debug("Connection closed")
return
if client_session.clean_session:
# Delete existing session and create a new one
if client_session.client_id is not None and client_session.client_id != "":
await self.delete_session(client_session.client_id)
else:
client_session.client_id = gen_client_id()
client_session.parent = 0
else:
# Get session from cache
if client_session.client_id in self._sessions:
self.logger.debug("Found old session %r",
self._sessions[client_session.client_id])
(client_session, h) = self._sessions[client_session.client_id]
client_session.parent = 1
else:
client_session.parent = 0
if not client_session.parent:
await client_session.start(self)
if client_session.keep_alive > 0 and not client_session.parent:
# MQTT 3.1.2.10: one and a half keepalive times, plus configurable grace
client_session.keep_alive += client_session.keep_alive / 2 + self.config[
'timeout-disconnect-delay']
self.logger.debug("Keep-alive timeout=%d", client_session.keep_alive)
await handler.attach(client_session, adapter)
self._sessions[client_session.client_id] = (client_session, handler)
authenticated = await self.authenticate(
client_session, self.listeners_config[listener_name])
if not authenticated:
await adapter.close()
return
while True:
try:
client_session.transitions.connect()
break
except (MachineError, ValueError) as exc:
# Backwards compat: MachineError is raised by transitions < 0.5.0.
self.logger.warning(
"Client %s is reconnecting too quickly, make it wait",
client_session.client_id,
exc_info=exc)
# Wait a bit may be client is reconnecting too fast
await anyio.sleep(1)
await handler.mqtt_connack_authorize(authenticated)
await self.plugins_manager.fire_event(
EVENT_BROKER_CLIENT_CONNECTED, client_id=client_session.client_id)
self.logger.debug("%s Start messages handling",
client_session.client_id)
await handler.start()
self.logger.debug("Retained messages queue size: %d",
client_session.retained_messages.qsize())
await self.publish_session_retained_messages(client_session)
# Init and start loop for handling client messages (publish, subscribe/unsubscribe, disconnect)
async with anyio.create_task_group() as tg:
async def handle_unsubscribe():
while True:
unsubscription = await handler.get_next_pending_unsubscription(
)
self.logger.debug("%s handling unsubscription",
client_session.client_id)
for topic in unsubscription['topics']:
self._del_subscription(topic, client_session)
await self.plugins_manager.fire_event(
EVENT_BROKER_CLIENT_UNSUBSCRIBED,
client_id=client_session.client_id,
topic=topic)
await handler.mqtt_acknowledge_unsubscription(
unsubscription['packet_id'])
async def handle_subscribe():
while True:
subscriptions = await handler.get_next_pending_subscription(
)
self.logger.debug("%s handling subscription",
client_session.client_id)
return_codes = []
for subscription in subscriptions['topics']:
result = await self.add_subscription(
subscription, client_session)
return_codes.append(result)
await handler.mqtt_acknowledge_subscription(
subscriptions['packet_id'], return_codes)
for index, subscription in enumerate(
subscriptions['topics']):
if return_codes[index] != 0x80:
await self.plugins_manager.fire_event(
EVENT_BROKER_CLIENT_SUBSCRIBED,
client_id=client_session.client_id,
topic=subscription[0],
qos=subscription[1])
await self.publish_retained_messages_for_subscription(
subscription, client_session)
self.logger.debug(repr(self._subscriptions))
await tg.spawn(handle_unsubscribe)
await tg.spawn(handle_subscribe)
try:
await handler.wait_disconnect()
self.logger.debug("%s wait_diconnect: %sclean",
client_session.client_id,
"" if handler.clean_disconnect else "un")
if not handler.clean_disconnect:
# Connection closed anormally, send will message
self.logger.debug("Will flag: %s",
client_session.will_flag)
if client_session.will_flag:
if self.logger.isEnabledFor(logging.DEBUG):
self.logger.debug(
"Client %s disconnected abnormally, sending will message",
format_client_message(session=client_session))
await self.broadcast_message(
client_session,
client_session.will_topic,
client_session.will_message,
client_session.will_qos,
retain=client_session.will_retain)
self.logger.debug("%s Disconnecting session",
client_session.client_id)
await self._stop_handler(handler)
client_session.transitions.disconnect()
await self.plugins_manager.fire_event(
EVENT_BROKER_CLIENT_DISCONNECTED,
client_id=client_session.client_id)
finally:
async with anyio.open_cancel_scope(shield=True):
await tg.cancel_scope.cancel()
pass # end taskgroup
self.logger.debug("%s Client disconnected", client_session.client_id)
async def _stop_handler(self, handler):
"""
Stop a running handler and detach if from the session
:param handler:
:return:
"""
try:
await handler.detach()
await handler.stop()
except Exception as e:
#self.logger.exception("Stop handler")
raise
async def authenticate(self, session: Session, listener):
"""
This method call the authenticate method on registered plugins to test user authentication.
User is considered authenticated if all plugins called returns True.
Plugins authenticate() method are supposed to return :
- True if user is authentication succeed
- False if user authentication fails
- None if authentication can't be achieved (then plugin result is then ignored)
:param session:
:param listener:
:return:
"""
auth_plugins = None
auth_config = self.config.get('auth', None)
if auth_config:
auth_plugins = auth_config.get('plugins', None)
returns = await self.plugins_manager.map_plugin_coro(
"authenticate", session=session, filter_plugins=auth_plugins)
auth_result = True
if returns:
for plugin in returns:
res = returns[plugin]
if res is False:
auth_result = False
self.logger.debug(
"Authentication failed due to '%s' plugin result: %s",
plugin.name, res)
else:
self.logger.debug("'%s' plugin result: %s", plugin.name,
res)
# If all plugins returned True, authentication is success
return auth_result
async def topic_filtering(self, session: Session, topic):
"""
This method call the topic_filtering method on registered plugins to check that the subscription is allowed.
User is considered allowed if all plugins called return True.
Plugins topic_filtering() method are supposed to return :
- True if MQTT client can be subscribed to the topic
- False if MQTT client is not allowed to subscribe to the topic
- None if topic filtering can't be achieved (then plugin result is then ignored)
:param session:
:param listener:
:param topic: Topic in which the client wants to subscribe
:return:
"""
topic_plugins = None
topic_config = self.config.get('topic-check', None)
if topic_config and topic_config.get('enabled', False):
topic_plugins = topic_config.get('plugins', None)
returns = await self.plugins_manager.map_plugin_coro(
"topic_filtering",
session=session,
topic=topic,
filter_plugins=topic_plugins)
topic_result = True
if returns:
for plugin in returns:
res = returns[plugin]
if res is False:
topic_result = False
self.logger.debug(
"Topic filtering failed due to '%s' plugin result: %s",
plugin.name, res)
else:
self.logger.debug("'%s' plugin result: %s", plugin.name,
res)
# If all plugins returned True, authentication is success
return topic_result
def retain_message(self, source_session, topic_name, data, qos=None):
if data is not None and data != b'':
# If retained flag set, store the message for further subscriptions
self.logger.debug("Retaining message on topic %s", topic_name)
retained_message = RetainedApplicationMessage(
source_session, topic_name, data, qos)
self._retained_messages[topic_name] = retained_message
else:
# [MQTT-3.3.1-10]
if topic_name in self._retained_messages:
self.logger.debug("Clear retained messages for topic '%s'",
topic_name)
del self._retained_messages[topic_name]
async def add_subscription(self, subscription, session):
a_filter = subscription[0]
if '#' in a_filter and not a_filter.endswith('#'):
# [MQTT-4.7.1-2] Wildcard character '#' is only allowed as last character in filter
return 0x80
if a_filter != "+":
if '+' in a_filter:
if "/+" not in a_filter and "+/" not in a_filter:
# [MQTT-4.7.1-3] + wildcard character must occupy entire level
return 0x80
# Check if the client is authorised to connect to the topic
permitted = await self.topic_filtering(session, topic=a_filter)
if not permitted:
return 0x80
qos = subscription[1]
if 'max-qos' in self.config and qos > self.config['max-qos']:
qos = self.config['max-qos']
if a_filter not in self._subscriptions:
self._subscriptions[a_filter] = []
already_subscribed = next(
(s for (s, qos) in self._subscriptions[a_filter]
if s.client_id == session.client_id), None)
if not already_subscribed:
self._subscriptions[a_filter].append((session, qos))
else:
if self.logger.isEnabledFor(logging.DEBUG):
self.logger.debug("Client %s has already subscribed to %s",
format_client_message(session=session),
a_filter)
return qos
def _del_subscription(self, a_filter, session):
"""
Delete a session subscription on a given topic
:param a_filter:
:param session:
:return:
"""
deleted = 0
try:
subscriptions = self._subscriptions[a_filter]
for index, (sub_session, qos) in enumerate(subscriptions):
if sub_session.client_id == session.client_id:
if self.logger.isEnabledFor(logging.DEBUG):
self.logger.debug(
"Removing subscription on topic '%s' for client %s",
a_filter, format_client_message(session=session))
subscriptions.pop(index)
deleted += 1
break
except KeyError:
# Unsubscribe topic not found in current subscribed topics
pass
finally:
return deleted
def _del_all_subscriptions(self, session):
"""
Delete all topic subscriptions for a given session
:param session:
:return:
"""
filter_queue = deque()
for topic in self._subscriptions:
if self._del_subscription(topic, session):
filter_queue.append(topic)
for topic in filter_queue:
if not self._subscriptions[topic]:
del self._subscriptions[topic]
def matches(self, topic, a_filter):
if "#" not in a_filter and "+" not in a_filter:
# if filter doesn't contain wildcard, return exact match
return a_filter == topic
else:
# else use regex
match_pattern = re.compile(
a_filter.replace('#', '.*').replace('$', r'\$').replace(
'+', r'[/\$\s\w\d]+'))
return match_pattern.match(topic)
async def _broadcast_loop(self):
async with anyio.create_task_group() as tg:
while True:
broadcast = await self._broadcast_queue.get()
self.logger.debug("broadcasting %r", broadcast)
for k_filter, subscriptions in self._subscriptions.items():
if broadcast['topic'].startswith("$") and (
k_filter.startswith("+")
or k_filter.startswith("#")):
self.logger.debug(
"[MQTT-4.7.2-1] - ignoring brodcasting $ topic to subscriptions starting with + or #"
)
elif self.matches(broadcast['topic'], k_filter):
for (target_session, qos) in subscriptions:
if 'qos' in broadcast:
qos = broadcast['qos']
if target_session.transitions.state == 'connected':
if self.logger.isEnabledFor(logging.DEBUG):
self.logger.debug(
"broadcasting application message from %s on topic '%s' to %s",
format_client_message(
session=broadcast['session']),
broadcast['topic'],
format_client_message(
session=target_session))
handler = self._get_handler(target_session)
await tg.spawn(
partial(handler.mqtt_publish,
broadcast['topic'],
broadcast['data'],
qos,
retain=False))
else:
if self.logger.isEnabledFor(logging.DEBUG):
self.logger.debug(
"retaining application message from %s on topic '%s' to client '%s'",
format_client_message(
session=broadcast['session']),
broadcast['topic'],
format_client_message(
session=target_session))
retained_message = RetainedApplicationMessage(
broadcast['session'], broadcast['topic'],
broadcast['data'], qos)
await target_session.retained_messages.put(
retained_message)
async def broadcast_message(self,
session,
topic,
data,
force_qos=None,
qos=None,
retain=False):
broadcast = {
'session': session,
'topic': topic,
'data': data,
}
if force_qos:
broadcast['qos'] = force_qos
await self._broadcast_queue.put(broadcast)
if retain:
self.retain_message(session, topic, data, force_qos or qos)
async def publish_session_retained_messages(self, session):
if self.logger.isEnabledFor(logging.DEBUG):
self.logger.debug("Publishing %d messages retained for session %s",
session.retained_messages.qsize(),
format_client_message(session=session))
handler = self._get_handler(session)
async with anyio.create_task_group() as tg:
while not session.retained_messages.empty():
retained = await session.retained_messages.get()
await tg.spawn(handler.mqtt_publish, retained.topic,
retained.data, retained.qos, True)
async def publish_retained_messages_for_subscription(
self, subscription, session):
if self.logger.isEnabledFor(logging.DEBUG):
self.logger.debug(
"Begin broadcasting messages retained due to subscription on '%s' from %s",
subscription[0], format_client_message(session=session))
handler = self._get_handler(session)
async with anyio.create_task_group() as tg:
for d_topic in self._retained_messages:
self.logger.debug("matching : %s %s", d_topic, subscription[0])
if self.matches(d_topic, subscription[0]):
self.logger.debug("%s and %s match", d_topic,
subscription[0])
retained = self._retained_messages[d_topic]
await tg.spawn(handler.mqtt_publish, retained.topic,
retained.data, subscription[1], True)
if self.logger.isEnabledFor(logging.DEBUG):
self.logger.debug(
"End broadcasting messages retained due to subscription on '%s' from %s",
subscription[0], format_client_message(session=session))
async def delete_session(self, client_id):
"""
Delete an existing session data, for example due to clean session set in CONNECT
:param client_id:
:return:
"""
try:
session = self._sessions[client_id][0]
except KeyError:
session = None
if session is None:
self.logger.debug("Delete session : session %s doesn't exist",
client_id)
return
# Delete subscriptions
self.logger.debug("deleting session %r subscriptions", session)
self._del_all_subscriptions(session)
self.logger.debug("deleting existing session %r",
self._sessions[client_id])
await session.stop()
del self._sessions[client_id]
def _get_handler(self, session):
client_id = session.client_id
if client_id:
try:
return self._sessions[client_id][1]
except KeyError:
pass
return None
class Broker:
"""
MQTT 3.1.1 compliant broker implementation
:param config: Example Yaml config
:param loop: asyncio loop to use. Defaults to ``asyncio.get_event_loop()`` if none is given
:param plugin_namespace: Plugin namespace to use when loading plugin entry_points. Defaults to ``hbmqtt.broker.plugins``
"""
states = ['new', 'starting', 'started', 'not_started', 'stopping', 'stopped', 'not_stopped', 'stopped']
def __init__(self, config=None, loop=None, plugin_namespace=None):
self.logger = logging.getLogger(__name__)
self.config = _defaults
if config is not None:
self.config.update(config)
self._build_listeners_config(self.config)
if loop is not None:
self._loop = loop
else:
self._loop = asyncio.get_event_loop()
self._servers = dict()
self._init_states()
self._sessions = dict()
self._subscriptions = dict()
self._retained_messages = dict()
self._broadcast_queue = asyncio.Queue(loop=self._loop)
self._broadcast_task = None
# Init plugins manager
context = BrokerContext(self)
context.config = self.config
if plugin_namespace:
namespace = plugin_namespace
else:
namespace = 'hbmqtt.broker.plugins'
self.plugins_manager = PluginManager(namespace, context, self._loop)
def _build_listeners_config(self, broker_config):
self.listeners_config = dict()
try:
listeners_config = broker_config['listeners']
defaults = listeners_config['default']
for listener in listeners_config:
config = dict(defaults)
config.update(listeners_config[listener])
self.listeners_config[listener] = config
except KeyError as ke:
raise BrokerException("Listener config not found invalid: %s" % ke)
def _init_states(self):
self.transitions = Machine(states=Broker.states, initial='new')
self.transitions.add_transition(trigger='start', source='new', dest='starting')
self.transitions.add_transition(trigger='starting_fail', source='starting', dest='not_started')
self.transitions.add_transition(trigger='starting_success', source='starting', dest='started')
self.transitions.add_transition(trigger='shutdown', source='started', dest='stopping')
self.transitions.add_transition(trigger='stopping_success', source='stopping', dest='stopped')
self.transitions.add_transition(trigger='stopping_failure', source='stopping', dest='not_stopped')
self.transitions.add_transition(trigger='start', source='stopped', dest='starting')
@asyncio.coroutine
def start(self):
"""
Start the broker to serve with the given configuration
Start method opens network sockets and will start listening for incoming connections.
This method is a *coroutine*.
"""
try:
self._sessions = dict()
self._subscriptions = dict()
self._retained_messages = dict()
self.transitions.start()
self.logger.debug("Broker starting")
except (MachineError, ValueError) as exc:
# Backwards compat: MachineError is raised by transitions < 0.5.0.
self.logger.warning("[WARN-0001] Invalid method call at this moment: %s" % exc)
raise BrokerException("Broker instance can't be started: %s" % exc)
yield from self.plugins_manager.fire_event(EVENT_BROKER_PRE_START)
try:
# Start network listeners
for listener_name in self.listeners_config:
listener = self.listeners_config[listener_name]
if 'bind' not in listener:
self.logger.debug("Listener configuration '%s' is not bound" % listener_name)
else:
# Max connections
try:
max_connections = listener['max_connections']
except KeyError:
max_connections = -1
# SSL Context
sc = None
# accept string "on" / "off" or boolean
ssl_active = listener.get('ssl', False)
if isinstance(ssl_active, str):
ssl_active = ssl_active.upper() == 'ON'
if ssl_active:
try:
sc = ssl.create_default_context(ssl.Purpose.CLIENT_AUTH)
sc.load_cert_chain(listener['certfile'], listener['keyfile'])
sc.verify_mode = ssl.CERT_OPTIONAL
except KeyError as ke:
raise BrokerException("'certfile' or 'keyfile' configuration parameter missing: %s" % ke)
except FileNotFoundError as fnfe:
raise BrokerException("Can't read cert files '%s' or '%s' : %s" %
(listener['certfile'], listener['keyfile'], fnfe))
address, s_port = listener['bind'].split(':')
port = 0
try:
port = int(s_port)
except ValueError as ve:
raise BrokerException("Invalid port value in bind value: %s" % listener['bind'])
if listener['type'] == 'tcp':
cb_partial = partial(self.stream_connected, listener_name=listener_name)
instance = yield from asyncio.start_server(cb_partial,
address,
port,
ssl=sc,
loop=self._loop)
self._servers[listener_name] = Server(listener_name, instance, max_connections, self._loop)
elif listener['type'] == 'ws':
cb_partial = partial(self.ws_connected, listener_name=listener_name)
instance = yield from websockets.serve(cb_partial, address, port, ssl=sc, loop=self._loop,
subprotocols=['mqtt'])
self._servers[listener_name] = Server(listener_name, instance, max_connections, self._loop)
self.logger.info("Listener '%s' bind to %s (max_connections=%d)" %
(listener_name, listener['bind'], max_connections))
self.transitions.starting_success()
yield from self.plugins_manager.fire_event(EVENT_BROKER_POST_START)
#Start broadcast loop
self._broadcast_task = ensure_future(self._broadcast_loop(), loop=self._loop)
self.logger.debug("Broker started")
except Exception as e:
self.logger.error("Broker startup failed: %s" % e)
self.transitions.starting_fail()
raise BrokerException("Broker instance can't be started: %s" % e)
@asyncio.coroutine
def shutdown(self):
"""
Stop broker instance.
Closes all connected session, stop listening on network socket and free resources.
"""
try:
self._sessions = dict()
self._subscriptions = dict()
self._retained_messages = dict()
self.transitions.shutdown()
except (MachineError, ValueError) as exc:
# Backwards compat: MachineError is raised by transitions < 0.5.0.
self.logger.debug("Invalid method call at this moment: %s" % exc)
raise BrokerException("Broker instance can't be stopped: %s" % exc)
# Fire broker_shutdown event to plugins
yield from self.plugins_manager.fire_event(EVENT_BROKER_PRE_SHUTDOWN)
# Stop broadcast loop
if self._broadcast_task:
self._broadcast_task.cancel()
if self._broadcast_queue.qsize() > 0:
self.logger.warning("%d messages not broadcasted" % self._broadcast_queue.qsize())
for listener_name in self._servers:
server = self._servers[listener_name]
yield from server.close_instance()
self.logger.debug("Broker closing")
self.logger.info("Broker closed")
yield from self.plugins_manager.fire_event(EVENT_BROKER_POST_SHUTDOWN)
self.transitions.stopping_success()
@asyncio.coroutine
def internal_message_broadcast(self, topic, data, qos=None):
return (yield from self._broadcast_message(None, topic, data))
@asyncio.coroutine
def ws_connected(self, websocket, uri, listener_name):
yield from self.client_connected(listener_name, WebSocketsReader(websocket), WebSocketsWriter(websocket))
@asyncio.coroutine
def stream_connected(self, reader, writer, listener_name):
yield from self.client_connected(listener_name, StreamReaderAdapter(reader), StreamWriterAdapter(writer))
@asyncio.coroutine
def client_connected(self, listener_name, reader: ReaderAdapter, writer: WriterAdapter):
# Wait for connection available on listener
server = self._servers.get(listener_name, None)
if not server:
raise BrokerException("Invalid listener name '%s'" % listener_name)
yield from server.acquire_connection()
remote_address, remote_port = writer.get_peer_info()
self.logger.info("Connection from %s:%d on listener '%s'" % (remote_address, remote_port, listener_name))
# Wait for first packet and expect a CONNECT
logh = logging.getLogger("logh")
try:
handler, client_session, connect1 = yield from BrokerProtocolHandler.init_from_connect(reader, writer, self.plugins_manager, loop=self._loop)
smsg = str(remote_address)+":"+str(remote_port)+"::"+str(connect1)
logh.info(smsg)
except HBMQTTException as exc:
self.logger.warning("[MQTT-3.1.0-1] %s: Can't read first packet an CONNECT: %s" %
(format_client_message(address=remote_address, port=remote_port), exc))
#yield from writer.close()
self.logger.debug("Connection closed")
return
except MQTTException as me:
self.logger.error('Invalid connection from %s : %s' %
(format_client_message(address=remote_address, port=remote_port), me))
yield from writer.close()
self.logger.debug("Connection closed")
return
if client_session.clean_session:
# Delete existing session and create a new one
if client_session.client_id is not None:
self.delete_session(client_session.client_id)
else:
client_session.client_id = gen_client_id()
client_session.parent = 0
else:
# Get session from cache
if client_session.client_id in self._sessions:
self.logger.debug("Found old session %s" % repr(self._sessions[client_session.client_id]))
(client_session, h) = self._sessions[client_session.client_id]
client_session.parent = 1
else:
client_session.parent = 0
if client_session.keep_alive > 0:
client_session.keep_alive += self.config['timeout-disconnect-delay']
self.logger.debug("Keep-alive timeout=%d" % client_session.keep_alive)
handler.attach(client_session, reader, writer)
self._sessions[client_session.client_id] = (client_session, handler)
authenticated = yield from self.authenticate(client_session, self.listeners_config[listener_name])
if not authenticated:
yield from writer.close()
return
while True:
try:
client_session.transitions.connect()
break
except (MachineError, ValueError):
# Backwards compat: MachineError is raised by transitions < 0.5.0.
self.logger.warning("Client %s is reconnecting too quickly, make it wait" % client_session.client_id)
# Wait a bit may be client is reconnecting too fast
yield from asyncio.sleep(1, loop=self._loop)
yield from handler.mqtt_connack_authorize(authenticated)
yield from self.plugins_manager.fire_event(EVENT_BROKER_CLIENT_CONNECTED, client_id=client_session.client_id)
self.logger.debug("%s Start messages handling" % client_session.client_id)
yield from handler.start()
self.logger.debug("Retained messages queue size: %d" % client_session.retained_messages.qsize())
yield from self.publish_session_retained_messages(client_session)
# Init and start loop for handling client messages (publish, subscribe/unsubscribe, disconnect)
disconnect_waiter = ensure_future(handler.wait_disconnect(), loop=self._loop)
subscribe_waiter = ensure_future(handler.get_next_pending_subscription(), loop=self._loop)
unsubscribe_waiter = ensure_future(handler.get_next_pending_unsubscription(), loop=self._loop)
wait_deliver = ensure_future(handler.mqtt_deliver_next_message(), loop=self._loop)
connected = True
while connected:
try:
done, pending = yield from asyncio.wait(
[disconnect_waiter, subscribe_waiter, unsubscribe_waiter, wait_deliver],
return_when=asyncio.FIRST_COMPLETED, loop=self._loop)
if disconnect_waiter in done:
result = disconnect_waiter.result()
self.logger.debug("%s Result from wait_diconnect: %s" % (client_session.client_id, result))
if result is None:
self.logger.debug("Will flag: %s" % client_session.will_flag)
# Connection closed anormally, send will message
if client_session.will_flag:
self.logger.debug("Client %s disconnected abnormally, sending will message" %
format_client_message(client_session))
yield from self._broadcast_message(
client_session,
client_session.will_topic,
client_session.will_message,
client_session.will_qos)
if client_session.will_retain:
self.retain_message(client_session,
client_session.will_topic,
client_session.will_message,
client_session.will_qos)
self.logger.debug("%s Disconnecting session" % client_session.client_id)
yield from self._stop_handler(handler)
client_session.transitions.disconnect()
yield from self.plugins_manager.fire_event(EVENT_BROKER_CLIENT_DISCONNECTED, client_id=client_session.client_id)
connected = False
if unsubscribe_waiter in done:
self.logger.debug("%s handling unsubscription" % client_session.client_id)
unsubscription = unsubscribe_waiter.result()
for topic in unsubscription['topics']:
self._del_subscription(topic, client_session)
yield from self.plugins_manager.fire_event(
EVENT_BROKER_CLIENT_UNSUBSCRIBED,
client_id=client_session.client_id,
topic=topic)
yield from handler.mqtt_acknowledge_unsubscription(unsubscription['packet_id'])
unsubscribe_waiter = asyncio.Task(handler.get_next_pending_unsubscription(), loop=self._loop)
if subscribe_waiter in done:
self.logger.debug("%s handling subscription" % client_session.client_id)
subscriptions = subscribe_waiter.result()
return_codes = []
for subscription in subscriptions['topics']:
return_codes.append(self.add_subscription(subscription, client_session))
yield from handler.mqtt_acknowledge_subscription(subscriptions['packet_id'], return_codes)
for index, subscription in enumerate(subscriptions['topics']):
if return_codes[index] != 0x80:
yield from self.plugins_manager.fire_event(
EVENT_BROKER_CLIENT_SUBSCRIBED,
client_id=client_session.client_id,
topic=subscription[0],
qos=subscription[1])
yield from self.publish_retained_messages_for_subscription(subscription, client_session)
subscribe_waiter = asyncio.Task(handler.get_next_pending_subscription(), loop=self._loop)
self.logger.debug(repr(self._subscriptions))
if wait_deliver in done:
if self.logger.isEnabledFor(logging.DEBUG):
self.logger.debug("%s handling message delivery" % client_session.client_id)
app_message = wait_deliver.result()
if not app_message.topic:
self.logger.warning("[MQTT-4.7.3-1] - %s invalid TOPIC sent in PUBLISH message, closing connection" % client_session.client_id)
break
if "#" in app_message.topic or "+" in app_message.topic:
self.logger.warning("[MQTT-3.3.2-2] - %s invalid TOPIC sent in PUBLISH message, closing connection" % client_session.client_id)
break
yield from self.plugins_manager.fire_event(EVENT_BROKER_MESSAGE_RECEIVED,
client_id=client_session.client_id,
message=app_message)
yield from self._broadcast_message(client_session, app_message.topic, app_message.data)
if app_message.publish_packet.retain_flag:
self.retain_message(client_session, app_message.topic, app_message.data, app_message.qos)
wait_deliver = asyncio.Task(handler.mqtt_deliver_next_message(), loop=self._loop)
except asyncio.CancelledError:
self.logger.debug("Client loop cancelled")
break
disconnect_waiter.cancel()
subscribe_waiter.cancel()
unsubscribe_waiter.cancel()
wait_deliver.cancel()
self.logger.debug("%s Client disconnected" % client_session.client_id)
server.release_connection()
def _init_handler(self, session, reader, writer):
"""
Create a BrokerProtocolHandler and attach to a session
:return:
"""
handler = BrokerProtocolHandler(self.plugins_manager, self._loop)
handler.attach(session, reader, writer)
return handler
@asyncio.coroutine
def _stop_handler(self, handler):
"""
Stop a running handler and detach if from the session
:param handler:
:return:
"""
try:
yield from handler.stop()
except Exception as e:
self.logger.error(e)
@asyncio.coroutine
def authenticate(self, session: Session, listener):
"""
This method call the authenticate method on registered plugins to test user authentication.
User is considered authenticated if all plugins called returns True.
Plugins authenticate() method are supposed to return :
- True if user is authentication succeed
- False if user authentication fails
- None if authentication can't be achieved (then plugin result is then ignored)
:param session:
:param listener:
:return:
"""
auth_plugins = None
auth_config = self.config.get('auth', None)
if auth_config:
auth_plugins = auth_config.get('plugins', None)
returns = yield from self.plugins_manager.map_plugin_coro(
"authenticate",
session=session,
filter_plugins=auth_plugins)
auth_result = True
if returns:
for plugin in returns:
res = returns[plugin]
if res is False:
auth_result = False
self.logger.debug("Authentication failed due to '%s' plugin result: %s" % (plugin.name, res))
else:
self.logger.debug("'%s' plugin result: %s" % (plugin.name, res))
# If all plugins returned True, authentication is success
return auth_result
def retain_message(self, source_session, topic_name, data, qos=None):
if data is not None and data != b'':
# If retained flag set, store the message for further subscriptions
self.logger.debug("Retaining message on topic %s" % topic_name)
retained_message = RetainedApplicationMessage(source_session, topic_name, data, qos)
self._retained_messages[topic_name] = retained_message
else:
# [MQTT-3.3.1-10]
if topic_name in self._retained_messages:
self.logger.debug("Clear retained messages for topic '%s'" % topic_name)
del self._retained_messages[topic_name]
def add_subscription(self, subscription, session):
try:
a_filter = subscription[0]
if '#' in a_filter and not a_filter.endswith('#'):
# [MQTT-4.7.1-2] Wildcard character '#' is only allowed as last character in filter
return 0x80
if a_filter != "+":
if '+' in a_filter:
if "/+" not in a_filter and "+/" not in a_filter:
# [MQTT-4.7.1-3] + wildcard character must occupy entire level
return 0x80
qos = subscription[1]
if 'max-qos' in self.config and qos > self.config['max-qos']:
qos = self.config['max-qos']
if a_filter not in self._subscriptions:
self._subscriptions[a_filter] = []
already_subscribed = next(
(s for (s, qos) in self._subscriptions[a_filter] if s.client_id == session.client_id), None)
if not already_subscribed:
self._subscriptions[a_filter].append((session, qos))
else:
self.logger.debug("Client %s has already subscribed to %s" % (format_client_message(session=session), a_filter))
return qos
except KeyError:
return 0x80
def _del_subscription(self, a_filter, session):
"""
Delete a session subscription on a given topic
:param a_filter:
:param session:
:return:
"""
deleted = 0
try:
subscriptions = self._subscriptions[a_filter]
for index, (sub_session, qos) in enumerate(subscriptions):
if sub_session.client_id == session.client_id:
self.logger.debug("Removing subscription on topic '%s' for client %s" %
(a_filter, format_client_message(session=session)))
subscriptions.pop(index)
deleted += 1
break
except KeyError:
# Unsubscribe topic not found in current subscribed topics
pass
finally:
return deleted
def _del_all_subscriptions(self, session):
"""
Delete all topic subscriptions for a given session
:param session:
:return:
"""
filter_queue = deque()
for topic in self._subscriptions:
if self._del_subscription(topic, session):
filter_queue.append(topic)
for topic in filter_queue:
if not self._subscriptions[topic]:
del self._subscriptions[topic]
def matches(self, topic, a_filter):
if "#" not in a_filter and "+" not in a_filter:
# if filter doesn't contain wildcard, return exact match
return a_filter == topic
else:
# else use regex
match_pattern = re.compile(a_filter.replace('#', '.*').replace('$', '\$').replace('+', '[/\$\s\w\d]+'))
return match_pattern.match(topic)
@asyncio.coroutine
def _broadcast_loop(self):
running_tasks = deque()
try:
while True:
while running_tasks and running_tasks[0].done():
running_tasks.popleft()
broadcast = yield from self._broadcast_queue.get()
if self.logger.isEnabledFor(logging.DEBUG):
self.logger.debug("broadcasting %r" % broadcast)
for k_filter in self._subscriptions:
if broadcast['topic'].startswith("$") and (k_filter.startswith("+") or k_filter.startswith("#")):
self.logger.debug("[MQTT-4.7.2-1] - ignoring brodcasting $ topic to subscriptions starting with + or #")
elif self.matches(broadcast['topic'], k_filter):
subscriptions = self._subscriptions[k_filter]
for (target_session, qos) in subscriptions:
if 'qos' in broadcast:
qos = broadcast['qos']
if target_session.transitions.state == 'connected':
self.logger.debug("broadcasting application message from %s on topic '%s' to %s" %
(format_client_message(session=broadcast['session']),
broadcast['topic'], format_client_message(session=target_session)))
handler = self._get_handler(target_session)
task = ensure_future(
handler.mqtt_publish(broadcast['topic'], broadcast['data'], qos, retain=False),
loop=self._loop)
running_tasks.append(task)
else:
self.logger.debug("retaining application message from %s on topic '%s' to client '%s'" %
(format_client_message(session=broadcast['session']),
broadcast['topic'], format_client_message(session=target_session)))
retained_message = RetainedApplicationMessage(
broadcast['session'], broadcast['topic'], broadcast['data'], qos)
yield from target_session.retained_messages.put(retained_message)
except CancelledError:
# Wait until current broadcasting tasks end
if running_tasks:
yield from asyncio.wait(running_tasks, loop=self._loop)
@asyncio.coroutine
def _broadcast_message(self, session, topic, data, force_qos=None):
broadcast = {
'session': session,
'topic': topic,
'data': data
}
if force_qos:
broadcast['qos'] = force_qos
yield from self._broadcast_queue.put(broadcast)
@asyncio.coroutine
def publish_session_retained_messages(self, session):
self.logger.debug("Publishing %d messages retained for session %s" %
(session.retained_messages.qsize(), format_client_message(session=session))
)
publish_tasks = []
handler = self._get_handler(session)
while not session.retained_messages.empty():
retained = yield from session.retained_messages.get()
publish_tasks.append(ensure_future(
handler.mqtt_publish(
retained.topic, retained.data, retained.qos, True), loop=self._loop))
if publish_tasks:
yield from asyncio.wait(publish_tasks, loop=self._loop)
@asyncio.coroutine
def publish_retained_messages_for_subscription(self, subscription, session):
self.logger.debug("Begin broadcasting messages retained due to subscription on '%s' from %s" %
(subscription[0], format_client_message(session=session)))
publish_tasks = []
handler = self._get_handler(session)
for d_topic in self._retained_messages:
self.logger.debug("matching : %s %s" % (d_topic, subscription[0]))
if self.matches(d_topic, subscription[0]):
self.logger.debug("%s and %s match" % (d_topic, subscription[0]))
retained = self._retained_messages[d_topic]
publish_tasks.append(asyncio.Task(
handler.mqtt_publish(
retained.topic, retained.data, subscription[1], True), loop=self._loop))
if publish_tasks:
yield from asyncio.wait(publish_tasks, loop=self._loop)
self.logger.debug("End broadcasting messages retained due to subscription on '%s' from %s" %
(subscription[0], format_client_message(session=session)))
def delete_session(self, client_id):
"""
Delete an existing session data, for example due to clean session set in CONNECT
:param client_id:
:return:
"""
try:
session = self._sessions[client_id][0]
except KeyError:
session = None
if session is None:
self.logger.debug("Delete session : session %s doesn't exist" % client_id)
return
# Delete subscriptions
self.logger.debug("deleting session %s subscriptions" % repr(session))
self._del_all_subscriptions(session)
self.logger.debug("deleting existing session %s" % repr(self._sessions[client_id]))
del self._sessions[client_id]
def _get_handler(self, session):
client_id = session.client_id
if client_id:
try:
return self._sessions[client_id][1]
except KeyError:
pass
return None
def __init__(self):
self.machine = Machine(model=self,
states=FSM.fsm_states,
initial='start')
self.machine.add_transition('comenzar',
'start',
'inicio',
after='activar_seguidor_linea')
self.machine.add_transition('interseccion',
'inicio',
'media_vuelta_inter_1',
after='girar')
self.machine.add_transition('giro_completo',
'media_vuelta_inter_1',
'buscar_cubo',
after='sondeo')
self.machine.add_transition('no_cubo',
'buscar_cubo',
'avanzar',
after='activar_seguidor_linea')
self.machine.add_transition('timeout',
'avanzar',
'buscar_cubo',
after='sondeo')
self.machine.add_transition('interseccion',
'avanzar',
'media_vuelta_inicio',
after='girar')
self.machine.add_transition('cubo',
'buscar_cubo',
'avanzar_cubo',
after='perseguir_cubo')
self.machine.add_transition('cubo_atrapado',
'avanzar_cubo',
'encerrar_cubo',
after='cerrar_brazo')
self.machine.add_transition('cubo_encerrado',
'encerrar_cubo',
'girar_linea',
after='girar')
self.machine.add_transition('giro_completo',
'girar_linea',
'buscar_linea',
after='encontrar_linea')
self.machine.add_transition('linea',
'buscar_linea',
'seguir_linea_1_f',
conditions='negro',
after='activar_seguidor_linea')
self.machine.add_transition('interseccion',
'seguir_linea_1_f',
'soltar_cubo',
after='abrir_brazo')
self.machine.add_transition('cubo_liberado',
'soltar_cubo',
'media_vuelta_inicio',
conditions='negro',
after='girar')
self.machine.add_transition('giro_completo',
'media_vuelta_inicio',
'inicio',
after='activar_seguidor_linea')
self.machine.add_transition('linea',
'buscar_linea',
'seguir_linea_1_b',
unless='negro',
after='activar_seguidor_linea')
self.machine.add_transition('interseccion',
'seguir_linea_1_b',
'seguir_linea_2_f',
after='activar_seguidor_linea')
self.machine.add_transition('interseccion',
'seguir_linea_2_f',
'girar_color_f',
after='girar')
self.machine.add_transition('giro_completo',
'girar_color_f',
'seguir_linea_3_f',
after='activar_seguidor_linea')
self.machine.add_transition('interseccion',
'seguir_linea_3_f',
'soltar_cubo',
after='abrir_brazo')
self.machine.add_transition('cubo_liberado',
'soltar_cubo',
'media_vuelta_fin',
after='girar')
self.machine.add_transition('giro_completo',
'media_vuelta_fin',
'seguir_linea_3_b',
after='activar_seguidor_linea')
self.machine.add_transition('interseccion',
'seguir_linea_3_b',
'girar_color_b',
after='girar')
self.machine.add_transition('giro_completo',
'girar_color_b',
'seguir_linea_2_b',
after='activar_seguidor_linea')
self.machine.add_transition('interseccion',
'seguir_linea_2_b',
'buscar_cubo',
after='sondeo')
def __init__(self, game):
self.game = game
m = Machine(self, states=GAME_STATES, initial='turn_start'
) #Note! on_enter won't fire for initial state first time!
m.add_ordered_transitions()
