First implementation of state machines

diff --git a/conf.json b/conf.json
index 9f345ffdff6bd8253ff9d7dd10c67e1245399c90..d94fb6f6b094d2fca021f632815f3a70f7273139 100644 (file)
--- a/conf.json
+++ b/conf.json
@@ -1,68 +1,191 @@
 {
-    "State": {
-        "plugin": "State"
-    },
-    "WaitCheck": {
-        "plugin": "Wait",
-        "seconds": 1.0
-    },
-    "TriggerStateCheck": {
-        "plugin": "Alias",
-        "from": { "sender": "WaitCheck", "event": "finished" },
-        "to": { "target": "State", "command": "get state" }
+    "Example Server": {
+        "plugin": "WSServer",
+        "port": 8080,
+        "web root": "../controlpi-wsserver/web"
     },
-    "TriggerWaitCheck": {
+    "Lubrication Button": {
         "plugin": "Alias",
-        "from": { "sender": "WaitCheck", "event": "finished" },
-        "to": { "target": "WaitCheck", "command": "wait" }
+        "from": {
+            "target": { "const": "Lubrication Button" },
+            "command": { "const": "press" }
+        },
+        "to": {
+            "event": "pressed"
+        }
     },
-    "WaitOn": {
-        "plugin": "Wait",
-        "seconds": 1.5
-    },
-    "TriggerStateOnOff": {
+    "Engine Button": {
         "plugin": "Alias",
-        "from": { "sender": "WaitOn", "event": "finished" },
-        "to": { "target": "State", "command": "set state", "state": false }
+        "from": {
+            "target": { "const": "Engine Button" },
+            "command": { "const": "press" }
+        },
+        "to": {
+            "event": "pressed"
+        }
     },
-    "TriggerWaitOnOff": {
+    "Emergency Button": {
         "plugin": "Alias",
-        "from": { "sender": "WaitOn", "event": "finished" },
-        "to": { "target": "WaitOff", "command": "wait" }
-    },
-    "WaitOff": {
-        "plugin": "Wait",
-        "seconds": 1.5
+        "from": {
+            "target": { "const": "Emergency Button" },
+            "command": { "const": "press"}
+        },
+        "to": {
+            "event": "pressed"
+        }
     },
-    "TriggerStateOffOn": {
-        "plugin": "Alias",
-        "from": { "sender": "WaitOff", "event": "finished" },
-        "to": { "target": "State", "command": "set state", "state": true }
+    "Lubrication": {
+        "plugin": "State"
     },
-    "TriggerWaitOffOn": {
-        "plugin": "Alias",
-        "from": { "sender": "WaitOff", "event": "finished" },
-        "to": { "target": "WaitOn", "command": "wait" }
+    "Engine": {
+        "plugin": "State"
     },
-    "Test Procedure": {
-        "plugin": "Init",
-        "messages": [
-            { "event": "started" },
-            { "target": "WaitOff", "command": "wait" },
-            { "target": "WaitCheck", "command": "wait" },
-            { "event": "stopped" }
-        ]
+    "Machine": {
+        "plugin": "StateMachine",
+        "init": "off",
+        "states": {
+            "emergency": {
+                "commands": [
+                    {
+                        "target": "Engine",
+                        "command": "set state",
+                        "new state": false
+                    },
+                    {
+                        "target": "Lubrication",
+                        "command": "set state",
+                        "new state": false
+                    }
+                ],
+                "transitions": [
+                    {
+                        "triggers": [
+                            {
+                                "sender": { "const": "Emergency Button" },
+                                "event": { "const": "pressed" }
+                            }
+                        ],
+                        "to": "off"
+                    }
+                ]
+            },
+            "off": {
+                "commands": [
+                    {
+                        "target": "Engine",
+                        "command": "set state",
+                        "new state": false
+                    },
+                    {
+                        "target": "Lubrication",
+                        "command": "set state",
+                        "new state": false
+                    }
+                ],
+                "transitions": [
+                    {
+                        "triggers": [
+                            {
+                                "sender": { "const": "Emergency Button" },
+                                "event": { "const": "pressed" }
+                            }
+                        ],
+                        "to": "emergency"
+                    },
+                    {
+                        "triggers": [
+                            {
+                                "sender": { "const": "Lubrication Button" },
+                                "event": { "const": "pressed" }
+                            }
+                        ],
+                        "to": "lubrication on"
+                    }
+                ]
+            },
+            "lubrication on": {
+                "commands": [
+                    {
+                        "target": "Engine",
+                        "command": "set state",
+                        "new state": false
+                    },
+                    {
+                        "target": "Lubrication",
+                        "command": "set state",
+                        "new state": true
+                    }
+                ],
+                "transitions": [
+                    {
+                        "triggers": [
+                            {
+                                "sender": { "const": "Emergency Button" },
+                                "event": { "const": "pressed" }
+                            }
+                        ],
+                        "to": "emergency"
+                    },
+                    {
+                        "triggers": [
+                            {
+                                "sender": { "const": "Lubrication Button" },
+                                "event": { "const": "pressed" }
+                            }
+                        ],
+                        "to": "off"
+                    },
+                    {
+                        "triggers": [
+                            {
+                                "sender": { "const": "Engine Button" },
+                                "event": { "const": "pressed" }
+                            }
+                        ],
+                        "to": "engine on"
+                    }
+                ]
+            },
+            "engine on": {
+                "commands": [
+                    {
+                        "target": "Engine",
+                        "command": "set state",
+                        "new state": true
+                    },
+                    {
+                        "target": "Lubrication",
+                        "command": "set state",
+                        "new state": true
+                    }
+                ],
+                "transitions": [
+                    {
+                        "triggers": [
+                            {
+                                "sender": { "const": "Emergency Button" },
+                                "event": { "const": "pressed" }
+                            }
+                        ],
+                        "to": "emergency"
+                    },
+                    {
+                        "triggers": [
+                            {
+                                "sender": { "const": "Engine Button" },
+                                "event": { "const": "pressed" }
+                            }
+                        ],
+                        "to": "lubrication on"
+                    }
+                ]
+            }
+        }
     },
     "Debug Logger": {
         "plugin": "Log",
         "filter": [
             {}
         ]
-    },
-    "State Change Logger": {
-        "plugin": "Log",
-        "filter": [
-            { "sender": "State", "changed": true }
-        ]
     }
 }

diff --git a/controlpi-plugins/statemachine.py b/controlpi-plugins/statemachine.py
index df35898532b90348b4768d44b85bf73325baf5ad..f77f6bdfb09bcdfc1bf7edc8ef187a9573b10c71 100644 (file)
--- a/controlpi-plugins/statemachine.py
+++ b/controlpi-plugins/statemachine.py
@@ -2,18 +2,76 @@
 
 TODO: documentation, doctests
 """
+import jsonschema  # type: ignore
+from typing import Iterable, Mapping, Any
+
 from controlpi import BasePlugin, Message, PluginConfiguration
 
 
-class Statemachine(BasePlugin):
+def template_from_message(message: Message) -> Message:
+    template = {}
+    for key in message:
+        value = message[key]
+        if (isinstance(value, bool) or isinstance(value, int) or
+                isinstance(value, float) or isinstance(value, str)):
+            value = {'const': value}
+        elif (isinstance(value, dict)):
+            value = {'type': 'object',
+                     'properties': template_from_message(value)}
+        template[key] = value
+    return template
+
+
+class StateMachine(BasePlugin):
     async def _receive(self, message: Message) -> None:
-        send_message = {'sender': self._name}
-        await self._bus.send(send_message)
+        if ('target' in message and message['target'] == self._name and
+                'command' in message and message['command'] == 'get state'):
+            answer = {'sender': self._name, 'state': self._current_state}
+            await self._bus.send(answer)
+        for transition in self._states[self._current_state]['transitions']:
+            for trigger in transition['triggers']:
+                matches = True
+                for key in trigger:
+                    if key not in message:
+                        matches = False
+                        break
+                    try:
+                        jsonschema.validate(message[key], trigger[key])
+                    except jsonschema.exceptions.ValidationError:
+                        matches = False
+                        break
+                if matches:
+                    new_state = transition['to']
+                    self._current_state: str = new_state
+                    for message in self._states[new_state]['commands']:
+                        complete_message = {'sender': self._name}
+                        complete_message.update(message)
+                        await self._bus.send(complete_message)
+                    event = {'sender': self._name, 'event': 'changed',
+                             'state': new_state}
+                    await self._bus.send(event)
+                    break
 
     def _process_conf(self, conf: PluginConfiguration) -> None:
+        self._current_state = conf['init']
+        self._states: Mapping[str, Any] = conf['states']
+        sends: list[Message] = [{'event': {'const': 'changed'},
+                                 'state': {'type': 'string'}},
+                                {'state': {'type': 'string'}}]
+        receives: list[Message] = [{'target': {'const': self._name},
+                                    'command': {'const': 'get state'}}]
+        for state in self._states:
+            for message in self._states[state]['commands']:
+                sends.append(template_from_message(message))
+            for transition in self._states[state]['transitions']:
+                for template in transition['triggers']:
+                    receives.append(template)
         self._bus.register(self._name, sends, receives, self._receive)
         super()._process_conf(conf)
 
     async def run(self) -> None:
         await super().run()
-        await self._bus.send({'sender': self._name})
+        for message in self._states[self._current_state]['commands']:
+            complete_message = {'sender': self._name}
+            complete_message.update(message)
+            await self._bus.send(complete_message)