separate start and init sequences in statemachine

blinkenLights.py

@@ -31,15 +31,17 @@ class Blinkenlights(ExceptionThread):
 			pwm.stop() # required to avoid core dumps when process terminates
 
 		super().__init__(target=blinkLights, daemon=True)
-		self.start()
-		logger.debug('Starting LED on pin %s', self._pin)
 		
-	def setCyclePeriod(self, cyclePeriod):
+	def start(self):
-		self._sleeptime = cyclePeriod/20/2
+		ExceptionThread.start(self)
+		logger.debug('Starting LED on pin %s', self._pin)
 
 	def stop(self):
 		self._stopper.set()
 		logger.debug('Stopping LED on pin %s', self._pin)
 
+	def setCyclePeriod(self, cyclePeriod):
+		self._sleeptime = cyclePeriod/20/2
+		
 	def __del__(self):
 		self.stop()

listeners.py

@@ -11,7 +11,7 @@ import stateMachine
 
 logger = logging.getLogger(__name__)
 
-class KeypadListener():
+class KeypadListener:
 	'''
 	Interface for standard numpad device. Capabilities include:
 	- accepting numeric input
@@ -35,20 +35,11 @@ class KeypadListener():
 			82: '0', 83: '.'
 		}
 		
-		devPath = '/dev/input/by-id/usb-04d9_1203-event-kbd'
-		
-		waitForPath(devPath, logger)
-
-		self._dev = InputDevice(devPath)
-		self._dev.grab()
-		
 		numKeySound = soundLib.soundEffects['numKey']
 		ctrlKeySound = soundLib.soundEffects['ctrlKey']
 		wrongPassSound = soundLib.soundEffects['wrongPass']
 		backspaceSound = soundLib.soundEffects['backspace']
 		
-		self._clearBuffer()
-		
 		def getInput():
 			while 1:
 				r, w, x = select([self._dev], [], [])
@@ -112,11 +103,24 @@ class KeypadListener():
 							ctrlKeySound.play()
 							self._dev.set_led(ecodes.LED_NUML, 0 if soundLib.volume > 0 else 1)
 		
-		self._resetCountdown = None
-		
 		self._listener = ExceptionThread(target=getInput, daemon=True)
+		self._resetCountdown = None
+		self._clearBuffer()
+		
+	def start(self):
+		devPath = '/dev/input/by-id/usb-04d9_1203-event-kbd'
+		
+		waitForPath(devPath, logger)
+
+		self._dev = InputDevice(devPath)
+		self._dev.grab()
+		
 		self._listener.start()
-		logger.debug('Started keypad device')
+		logger.debug('Started keypad listener')
+		
+	def resetBuffer(self):
+		self._stopResetCountdown
+		self._clearBuffer()
 
 	def _startResetCountdown(self):
 		self._resetCountdown = CountdownTimer(30, self._clearBuffer)
@@ -126,10 +130,6 @@ class KeypadListener():
 			self._resetCountdown.stop()
 		self._resetCountdown = None
 		
-	def resetBuffer(self):
-		self._stopResetCountdown
-		self._clearBuffer()
-		
 	def _clearBuffer(self):
 		self._buf = ''
 		
@@ -170,7 +170,9 @@ class PipeListener(ExceptionThread):
 					callback(msg, logger)
 		
 		super().__init__(target=listen, daemon=True)
-		self.start()
+		
+	def start(self):
+		ExceptionThread.start(self)
 		logger.debug('Started pipe listener at path %s', self._path)
 		
 	def __del__(self):

main.py

@@ -36,6 +36,7 @@ if __name__ == '__main__':
 		GPIO.setmode(GPIO.BCM)
 		
 		stateMachine = StateMachine()
+		stateMachine.start()
 
 		signal.signal(signal.SIGTERM, sigtermHandler)
 

sensors.py

@@ -22,12 +22,12 @@ def lowPassFilter(pin, targetVal, period=0.001):
 
 	return GPIO.input(pin) == targetVal
 
-def setupGPIO(name, pin, GPIOEvent, callback):
+def _initGPIO(name, pin, GPIOEvent, callback):
 	logger.info('setting up \"%s\" on pin %s', name, pin)
 	GPIO.setup(pin, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
 	GPIO.add_event_detect(pin, GPIOEvent, callback=callback, bouncetime=500)
 
-def setupMotionSensor(pin, location, action):
+def startMotionSensor(pin, location, action):
 	name = 'MotionSensor@' + location
 
 	def trip(channel):
@@ -36,9 +36,9 @@ def setupMotionSensor(pin, location, action):
 			action()
 	
 	logger.debug('waiting %s for %s to power on', INIT_DELAY, name)
-	CountdownTimer(INIT_DELAY, partial(setupGPIO, name, pin, GPIO.RISING, trip))
+	CountdownTimer(INIT_DELAY, partial(_initGPIO, name, pin, GPIO.RISING, trip))
 
-def setupDoorSensor(pin, action, sound=None):
+def startDoorSensor(pin, action, sound=None):
 	def trip(channel):
 		nonlocal closed
 		val = GPIO.input(pin)
@@ -56,5 +56,5 @@ def setupDoorSensor(pin, action, sound=None):
 						sound.play()
 					action()
 	
-	setupGPIO('DoorSensor', pin, GPIO.BOTH, trip)
+	_initGPIO('DoorSensor', pin, GPIO.BOTH, trip)
 	closed = GPIO.input(pin)

soundLib.py

@@ -88,6 +88,8 @@ class SoundLib:
 		
 		self._ttsQueue = queue.Queue()
 		self._stopper = Event()
+
+	def start(self):
 		self._startMonitor()
 
 	def changeVolume(self, volumeDelta):

stateMachine.py

@@ -6,18 +6,16 @@ from collections import namedtuple
 
 from auxilary import CountdownTimer, resetUSBDevice
 from config import stateFile
-from sensors import setupDoorSensor, setupMotionSensor
+from sensors import startDoorSensor, startMotionSensor
 from gmail import intruderAlert
 from listeners import KeypadListener, PipeListener
 from blinkenLights import Blinkenlights
 from soundLib import SoundLib
-from webInterface import initWebInterface
+from webInterface import startWebInterface
 from stream import Camera, FileDump
 
 logger = logging.getLogger(__name__)
 
-resetUSBDevice('1-1')
-
 class SIGNALS:
 	ARM = 1
 	INSTANT_ARM = 2
@@ -69,7 +67,12 @@ class State:
 
 class StateMachine:
 	def __init__(self):
+		self._lock = Lock()
+		
 		self.soundLib = SoundLib()
+		self.LED = Blinkenlights(17)
+		self.camera = Camera()
+		self.fileDump = FileDump()
 		
 		def startTimer(t, sound):
 			self._timer = CountdownTimer(t, partial(self.selectState, SIGNALS.TIMOUT), sound)
@@ -131,35 +134,6 @@ class StateMachine:
 			(self.states.triggered, 		SIGNALS.ARM):			self.states.armed,
 		}
 		
-		self._lock = Lock()
-		
-		self.LED = Blinkenlights(17)
-		
-		self.camera = Camera()
-		
-		def action():
-			if self.currentState == self.states.armed:
-				self.selectState(SIGNALS.TRIGGER)
-
-		self.fileDump = FileDump()
-		sensitiveStates = (self.states.armed, self.states.armedCountdown, self.states.triggered)
-
-		def actionVideo(pin):
-			if self.currentState in sensitiveStates:
-				self.selectState(SIGNALS.TRIGGER)
-				self.fileDump.addInitiator(pin)
-				while GPIO.input(pin) and self.currentState in sensitiveStates:
-					time.sleep(0.1)
-				self.fileDump.removeInitiator(pin)
-
-		setupMotionSensor(5, 'Nate\'s room', action)
-		setupMotionSensor(19, 'front door', action)
-		setupMotionSensor(26, 'Laura\'s room', action)
-		setupMotionSensor(6, 'deck window', partial(actionVideo, 6))
-		setupMotionSensor(13, 'kitchen bar', partial(actionVideo, 13))
-		
-		setupDoorSensor(22, action, self.soundLib.soundEffects['door'])
-		
 		secretTable = {
 			"dynamoHum": 	partial(self.selectState, SIGNALS.DISARM),
 			"zombyWoof": 	partial(self.selectState, SIGNALS.ARM),
@@ -186,7 +160,39 @@ class StateMachine:
 			passwd = '5918462'
 		)
 		
-		initWebInterface(self)
+	def start(self):
+		resetUSBDevice('1-1')
+		
+		self.soundLib.start()
+		self.LED.start()
+		self.keypadListener.start()
+		self.secretListener.start()
+		self.camera.start()
+		self.fileDump.start()
+		
+		def action():
+			if self.currentState == self.states.armed:
+				self.selectState(SIGNALS.TRIGGER)
+		
+		sensitiveStates = (self.states.armed, self.states.armedCountdown, self.states.triggered)
+
+		def actionVideo(pin):
+			if self.currentState in sensitiveStates:
+				self.selectState(SIGNALS.TRIGGER)
+				self.fileDump.addInitiator(pin)
+				while GPIO.input(pin) and self.currentState in sensitiveStates:
+					time.sleep(0.1)
+				self.fileDump.removeInitiator(pin)
+
+		startMotionSensor(5, 'Nate\'s room', action)
+		startMotionSensor(19, 'front door', action)
+		startMotionSensor(26, 'Laura\'s room', action)
+		startMotionSensor(6, 'deck window', partial(actionVideo, 6))
+		startMotionSensor(13, 'kitchen bar', partial(actionVideo, 13))
+		
+		startDoorSensor(22, action, self.soundLib.soundEffects['door'])
+		
+		startWebInterface(self)
 		
 		self.currentState.entry()
 		

stream.py

@@ -68,7 +68,48 @@ class ThreadedPipeline:
 		self._stopper = Event()
 		
 	def start(self, play=True):
-		self._startPipeline(play)
+		pName = self._pipeline.get_name()
+		stateChange = self._pipeline.set_state(Gst.State.PAUSED)
+		_gstPrintMsg(pName, 'Setting to PAUSED', level=logging.INFO)
+		
+		if stateChange == Gst.StateChangeReturn.FAILURE:
+			_gstPrintMsg(pName, 'Cannot set to PAUSE', level=logging.INFO)
+			self._eventLoop(block=False, doProgress=False, targetState=Gst.State.VOID_PENDING)
+		# we should always end up here because live
+		elif stateChange == Gst.StateChangeReturn.NO_PREROLL:
+			_gstPrintMsg(pName, 'Live and does not need preroll')
+		elif stateChange == Gst.StateChangeReturn.ASYNC:
+			_gstPrintMsg(pName, 'Prerolling')
+			try:
+				_eventLoop(block=True, doProgress=True, targetState=Gst.State.PAUSED)
+			except GstException:
+				_gstPrintMsg(pName, 'Does not want to preroll', level=logging.ERROR)
+				raise SystemExit
+		elif stateChange == Gst.StateChangeReturn.SUCCESS:
+			_gstPrintMsg(pName, 'Is prerolled')
+		
+		# this should always succeed...
+		try:
+			self._eventLoop(block=False, doProgress=True, targetState=Gst.State.PLAYING)
+		except GstException:
+			_gstPrintMsg(pName, 'Does not want to preroll', level=logging.ERROR)
+			raise SystemExit
+		# ...and end up here
+		else:
+			if play:
+				_gstPrintMsg(pName, 'Setting to PLAYING', level=logging.INFO)
+			
+				# ...and since this will ALWAYS be successful...
+				if self._pipeline.set_state(Gst.State.PLAYING) == Gst.StateChangeReturn.FAILURE:
+					_gstPrintMsg(pName, 'Cannot set to PLAYING', level=logging.ERROR)
+					err = self._pipeline.get_bus().pop_filtered(Gst.MessageType.Error)
+					_processErrorMessage(pName, msgSrcName, err)
+			
+			# ...we end up here and loop until Tool releases their next album
+			try:
+				self._mainLoop()
+			except:
+				raise GstException
 	
 	# TODO: this might not all be necessary
 	def stop(self):
@@ -248,50 +289,6 @@ class ThreadedPipeline:
 	def _mainLoop(self):
 		self._eventLoop(block=True, doProgress=False, targetState=Gst.State.PLAYING)
 
-	def _startPipeline(self, play):
-		pName = self._pipeline.get_name()
-		stateChange = self._pipeline.set_state(Gst.State.PAUSED)
-		_gstPrintMsg(pName, 'Setting to PAUSED', level=logging.INFO)
-		
-		if stateChange == Gst.StateChangeReturn.FAILURE:
-			_gstPrintMsg(pName, 'Cannot set to PAUSE', level=logging.INFO)
-			self._eventLoop(block=False, doProgress=False, targetState=Gst.State.VOID_PENDING)
-		# we should always end up here because live
-		elif stateChange == Gst.StateChangeReturn.NO_PREROLL:
-			_gstPrintMsg(pName, 'Live and does not need preroll')
-		elif stateChange == Gst.StateChangeReturn.ASYNC:
-			_gstPrintMsg(pName, 'Prerolling')
-			try:
-				_eventLoop(block=True, doProgress=True, targetState=Gst.State.PAUSED)
-			except GstException:
-				_gstPrintMsg(pName, 'Does not want to preroll', level=logging.ERROR)
-				raise SystemExit
-		elif stateChange == Gst.StateChangeReturn.SUCCESS:
-			_gstPrintMsg(pName, 'Is prerolled')
-		
-		# this should always succeed...
-		try:
-			self._eventLoop(block=False, doProgress=True, targetState=Gst.State.PLAYING)
-		except GstException:
-			_gstPrintMsg(pName, 'Does not want to preroll', level=logging.ERROR)
-			raise SystemExit
-		# ...and end up here
-		else:
-			if play:
-				_gstPrintMsg(pName, 'Setting to PLAYING', level=logging.INFO)
-			
-				# ...and since this will ALWAYS be successful...
-				if self._pipeline.set_state(Gst.State.PLAYING) == Gst.StateChangeReturn.FAILURE:
-					_gstPrintMsg(pName, 'Cannot set to PLAYING', level=logging.ERROR)
-					err = self._pipeline.get_bus().pop_filtered(Gst.MessageType.Error)
-					_processErrorMessage(pName, msgSrcName, err)
-			
-			# ...we end up here and loop until Tool releases their next album
-			try:
-				self._mainLoop()
-			except:
-				raise GstException
-
 class Camera(ThreadedPipeline):
 	'''
 	Class for usb camera. The 'video' and 'audio' flags are meant for testing.
@@ -304,11 +301,12 @@ class Camera(ThreadedPipeline):
 	X = 1 is used by the Janus WebRTC interface and X = 2 is used by the
 	FileDump class below.
 	'''
+	_vPath = '/dev/video0'
+	_aPath = 'hw:1,0'
+	
 	def __init__(self, video=True, audio=True):
 		super().__init__('camera')
 		
-		vPath = '/dev/video0'
-		
 		if video:
 			vSource = Gst.ElementFactory.make("v4l2src", "videoSource")
 			vConvert = Gst.ElementFactory.make("videoconvert", "videoConvert")
@@ -318,7 +316,7 @@ class Camera(ThreadedPipeline):
 			vRTPPay = Gst.ElementFactory.make("rtph264pay", "videoRTPPayload")
 			vRTPSink = Gst.ElementFactory.make("multiudpsink", "videoRTPSink")
 		
-			vSource.set_property('device', vPath)
+			vSource.set_property('device', self._vPath)
 			vRTPPay.set_property('config-interval', 1)
 			vRTPPay.set_property('pt', 96)
 			vRTPSink.set_property('clients', '127.0.0.1:9001,127.0.0.1:9002')
@@ -342,7 +340,7 @@ class Camera(ThreadedPipeline):
 			aRTPPay = Gst.ElementFactory.make("rtpopuspay", "audioRTPPayload")
 			aRTPSink = Gst.ElementFactory.make("multiudpsink", "audioRTPSink")
 
-			aSource.set_property('device', 'hw:1,0')
+			aSource.set_property('device', self._aPath)
 			aRTPSink.set_property('clients', '127.0.0.1:8001,127.0.0.1:8002')
 
 			aCaps = Gst.Caps.from_string('audio/x-raw,rate=48000,channels=1')
@@ -355,9 +353,10 @@ class Camera(ThreadedPipeline):
 			_linkElements(aEncode, aRTPPay)
 			_linkElements(aRTPPay, aRTPSink)
 			
-		waitForPath(vPath) # video is on usb, so wait until it comes back after we hard reset the bus
+	def start(self):
-		
+		# video is on usb, so wait until it comes back after we hard reset the bus
-		self.start()
+		waitForPath(self._vPath)
+		ThreadedPipeline.start(self, play=False)
 		
 class FileDump(ThreadedPipeline):
 	'''
@@ -379,7 +378,7 @@ class FileDump(ThreadedPipeline):
 			logger.error('Attempting to init FileDump without gluster mounted. Aborting')
 			raise SystemExit
 			
-		self._savePath = os.path.join(gluster.mountpoint + '/video')
+		self._savePath = os.path.join(gluster.mountpoint, 'video')
 
 		mkdirSafe(self._savePath, logger)
 
@@ -424,10 +423,10 @@ class FileDump(ThreadedPipeline):
 		
 		_linkElements(mux, self.sink)
 	
+	def start(self):
 		# TODO: there is probably a better way to init than starting up to PAUSE
 		# and then dropping back down to NULL
-		self.start(play=False)
+		ThreadedPipeline.start(self, play=False)
-		
 		self._pipeline.post_message(Gst.Message.new_request_state(self._pipeline, Gst.State.NULL))
 		
 	def addInitiator(self, identifier):

webInterface.py

@@ -20,7 +20,7 @@ class TTSForm(FlaskForm):
 # TODO: fix random connection fails (might be an nginx thing)
 
 @async(daemon=True)
-def initWebInterface(stateMachine):
+def startWebInterface(stateMachine):
 	siteRoot = Blueprint('siteRoot', __name__, static_folder='static', static_url_path='')
 
 	@siteRoot.route('/', methods=['GET', 'POST'])